Information-Driven Autonomous Search and Source Reconstruction Using Cooperative Mobile Sensors

Abstract

This paper proposes a search and source reconstructing strategy in a decentralized manner using multiple mobile sensors. Each mobile sensor estimates the source location and the release rate using a sequential Monte Carlo method, and decides its own optimal control action based on information theory. Furthermore, all agents negotiate multiple times by exchanging local measurements and decisions to improve their decisions towards a quasi-group decision. This decision making process is called negotiated coordination or cooperation in this paper. Numerical simulations and experiments are conducted to verify the performance of the proposed method. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.