Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments
Coordinating multiple unmanned aerial vehicles (UAVs) for the purposes of target finding or surveying points of interest in large, complex, and partially observable environments remains an area of exploration. This work proposes a modeling approach and software framework for multi-UAV search and tar...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-07-01
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| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/15/15/3802 |
| _version_ | 1797586088511930368 |
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| author | Violet Walker Fernando Vanegas Felipe Gonzalez |
| author_facet | Violet Walker Fernando Vanegas Felipe Gonzalez |
| author_sort | Violet Walker |
| collection | DOAJ |
| description | Coordinating multiple unmanned aerial vehicles (UAVs) for the purposes of target finding or surveying points of interest in large, complex, and partially observable environments remains an area of exploration. This work proposes a modeling approach and software framework for multi-UAV search and target finding within large, complex, and partially observable environments. Mapping and path-solving is carried out by an extended NanoMap library; the global planning problem is defined as a decentralized partially observable Markov decision process and solved using an online model-based solver, and the local control problem is defined as two separate partially observable Markov decision processes that are solved using deep reinforcement learning. Simulated testing demonstrates that the proposed framework enables multiple UAVs to search and target-find within large, complex, and partially observable environments. |
| first_indexed | 2024-03-11T00:17:22Z |
| format | Article |
| id | doaj.art-4f96944300a046ba91ce5a721003fefd |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-11T00:17:22Z |
| publishDate | 2023-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-4f96944300a046ba91ce5a721003fefd2023-11-18T23:31:00ZengMDPI AGRemote Sensing2072-42922023-07-011515380210.3390/rs15153802Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable EnvironmentsViolet Walker0Fernando Vanegas1Felipe Gonzalez2School of Electrical Engineering and Robotics, Queensland University of Technology, Brisbane, QLD 4000, AustraliaSchool of Electrical Engineering and Robotics, Queensland University of Technology, Brisbane, QLD 4000, AustraliaSchool of Electrical Engineering and Robotics, Queensland University of Technology, Brisbane, QLD 4000, AustraliaCoordinating multiple unmanned aerial vehicles (UAVs) for the purposes of target finding or surveying points of interest in large, complex, and partially observable environments remains an area of exploration. This work proposes a modeling approach and software framework for multi-UAV search and target finding within large, complex, and partially observable environments. Mapping and path-solving is carried out by an extended NanoMap library; the global planning problem is defined as a decentralized partially observable Markov decision process and solved using an online model-based solver, and the local control problem is defined as two separate partially observable Markov decision processes that are solved using deep reinforcement learning. Simulated testing demonstrates that the proposed framework enables multiple UAVs to search and target-find within large, complex, and partially observable environments.https://www.mdpi.com/2072-4292/15/15/3802UAVmulti-UAVplanningcontrolPOMDPDEC-POMDP |
| spellingShingle | Violet Walker Fernando Vanegas Felipe Gonzalez Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments Remote Sensing UAV multi-UAV planning control POMDP DEC-POMDP |
| title | Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments |
| title_full | Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments |
| title_fullStr | Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments |
| title_full_unstemmed | Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments |
| title_short | Multi-UAV Mapping and Target Finding in Large, Complex, Partially Observable Environments |
| title_sort | multi uav mapping and target finding in large complex partially observable environments |
| topic | UAV multi-UAV planning control POMDP DEC-POMDP |
| url | https://www.mdpi.com/2072-4292/15/15/3802 |
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