Adaptive Task Allocation for Search Area Coverage
Abstract
Many operations require an area search area function, including search-and-rescue, surveillance, hazard detection, structures or sites inspection and agricultural spraying. Furthermore, these area search applications often involve varying vehicle and environmental conditions. This paper explores the problem of optimizing the behavior of a swarm of heterogeneous robotic vehicles executing a search area coverage task. Each vehicle is equipped with a sensing apparatus and the swarm must collectively explore an occluded environment to achieve a required probability of detection for each location in the search area. The problem is further complicated with the introduction of dynamic vehicle and environmental properties making adaptability a necessary requirement in order to achieve a high level of mission assurance using unmanned vehicles. Novel methods for search space decomposition and task allocation are presented, with simulated and real-world results utilizing the Boeing Vehicle Swarm Technology Laboratory.
Recommended Citation
R. J. Meuth et al., "Adaptive Task Allocation for Search Area Coverage," Proceedings of the 2009 IEEE International Conference on Technologies for Practical Robot Applications (2009, Woburn, MA), pp. 67 - 74, Institute of Electrical and Electronics Engineers (IEEE), Nov 2009.
The definitive version is available at https://doi.org/10.1109/TEPRA.2009.5339643
Meeting Name
IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009 (2009: Nov. 9-10, Woburn, MA)
Department(s)
Electrical and Computer Engineering
International Standard Book Number (ISBN)
978-1424449927
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2009 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.
Publication Date
10 Nov 2009
