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Open AccessArticle

Intermittent Information-Driven Multi-Agent Area-Restricted Search

by Branko Ristic 1,*,† and Alex Skvortsov 2,†
School of Engineering, RMIT University, Melbourne, VIC 3000, Australia
Maritime Division, Defence Science and Technology Group, Fishermans Bend, VIC 3207, Australia
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Entropy 2020, 22(6), 635;
Received: 25 May 2020 / Revised: 2 June 2020 / Accepted: 4 June 2020 / Published: 8 June 2020
(This article belongs to the Section Information Theory, Probability and Statistics)
The problem is a two-dimensional area-restricted search for a target using a coordinated team of autonomous mobile sensing platforms (agents). Sensing is characterised by a range-dependent probability of detection, with a non-zero probability of false alarms. The context is underwater surveillance using a swarm of amphibious drones equipped with active sonars. The paper develops an intermittent information-driven search strategy, which alternates between two phases: the fast and non-receptive displacement phase (called the ballistic phase) with a slow displacement and sensing phase (called the diffusive phase). The proposed multi-agent search strategy is carried out in a decentralised manner, which means that all computations (estimation and motion control) are done locally. Coordination of agents is achieved by exchanging the data with the neighbours only, in a manner which does not require global knowledge of the communication network topology. View Full-Text
Keywords: autonomous search; infotaxis; multi-agent system; decentralised control autonomous search; infotaxis; multi-agent system; decentralised control
Show Figures

Figure 1

  • Externally hosted supplementary file 1
    Doi: 10.5281/zenodo.3842299
    Description: The movie is a visual demonstration of a search for a target.
MDPI and ACS Style

Ristic, B.; Skvortsov, A. Intermittent Information-Driven Multi-Agent Area-Restricted Search. Entropy 2020, 22, 635.

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