Correction published on 5 June 2017, see
J. Mar. Sci. Eng. 2017, 5(2), 23.
Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields
SAS Laboratory, Mechanical Engineering & Mechanics Department, Drexel University, Philadelphia, PA 19104, USA
*
Author to whom correspondence should be addressed.
Academic Editor: Christopher Clark
J. Mar. Sci. Eng. 2017, 5(1), 3; https://doi.org/10.3390/jmse5010003
Received: 31 May 2016
/
Revised: 11 November 2016
/
Accepted: 28 November 2016
/
Published: 12 January 2017
(This article belongs to the Special Issue Autonomous Underwater Robotics for Mapping, Monitoring, İntervening with, and Tracking Dynamic Events and Targets)
We present information theoretic search strategies for single and multi-robot teams to localize the source of biochemical contaminants in turbulent flows. The robots synthesize the information provided by sporadic and intermittent sensor readings to optimize their exploration strategy. By leveraging the spatio-temporal sensing capabilities of a mobile sensing network, our strategies result in control actions that maximize the information gained by the team while minimizing the time spent localizing the biochemical source. By leveraging the team’s ability to obtain simultaneous measurements at different locations, we show how a multi-robot team is able to speed up the search process resulting in a collaborative information theoretic search strategy. We validate our proposed strategies in both simulations and experiments.
View Full-Text
Keywords:
multi-agent systems; information theory; distributed control; value of information; collaborative search
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
-
Externally hosted supplementary file 1
Link: https://www.youtube.com/playlist?list=PLmamVA9vIjfoP-5QyUlH7OW7KZhmzFYuF
Description: Simulation Videos: Single- and Multi- agent plume Source Seeking in a turbulent medium.
MDPI and ACS Style
Hajieghrary, H.; Mox, D.; Hsieh, M.A. Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields. J. Mar. Sci. Eng. 2017, 5, 3. https://doi.org/10.3390/jmse5010003
AMA Style
Hajieghrary H, Mox D, Hsieh MA. Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields. Journal of Marine Science and Engineering. 2017; 5(1):3. https://doi.org/10.3390/jmse5010003
Chicago/Turabian StyleHajieghrary, Hadi, Daniel Mox, and M. A. Hsieh. 2017. "Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields" Journal of Marine Science and Engineering 5, no. 1: 3. https://doi.org/10.3390/jmse5010003
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
