Search decisions for teams of automata

Abstract-- The dynamics of exploration vs exploitation decisions are explored in the context of robotic search problems. Building on prior work on robotic search together with our own work on reactive control laws for potential field mapping, we propose a new set of search protocols for teams of sensorenabled mobile robots. The focus is on collaborative strategies for the search of potential fields that are possibly time varying. We pose the problem of quickly finding regions where the potential achieves or exceeds a certain threshold. The search protocol has two distinct components. In an "exploration phase", agents execute either a randomized or structured search, seeking places where the field achieves or exceeds the prescribed threshold. Once a threshold point is reached, the "exploitation" component is initialized and the agents deploy so as to rapidly map the evolving isoline associated with the given value of the field. Conservative strategies will emphasize ...

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Dimitar Baronov, John Baillieul
• Keywords: CDC 2008, Control Systems, Potential Fields, Robotic Search, Search Protocol