Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction
This paper considers a multi-agent foraging problem, where multiple autonomous agents find resources (called pucks) in a bounded workspace and carry the found resources to a designated location, called the base. This article considers the case where autonomous agents move in unknown 3-D workspace wi...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/19/8050 |
| _version_ | 1797575236386816000 |
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| author | Jonghoek Kim |
| author_facet | Jonghoek Kim |
| author_sort | Jonghoek Kim |
| collection | DOAJ |
| description | This paper considers a multi-agent foraging problem, where multiple autonomous agents find resources (called pucks) in a bounded workspace and carry the found resources to a designated location, called the base. This article considers the case where autonomous agents move in unknown 3-D workspace with many obstacles. This article describes 3-D multi-agent foraging based on local interaction, which does not rely on global localization of an agent. This paper proposes a 3-D foraging strategy which has the following two steps. The first step is to detect all pucks inside the 3-D cluttered unknown workspace, such that every puck in the workspace is detected in a provably complete manner. The next step is to generate a path from the base to every puck, followed by collecting every puck to the base. Since an agent cannot use global localization, each agent depends on local interaction to bring every puck to the base. In this article, every agent on a path to a puck is used for guiding an agent to reach the puck and to bring the puck to the base. To the best of our knowledge, this article is novel in letting multiple agents perform foraging and puck carrying in 3-D cluttered unknown workspace, while not relying on global localization of an agent. In addition, the proposed search strategy is provably complete in detecting all pucks in the 3-D cluttered bounded workspace. MATLAB simulations demonstrate the outperformance of the proposed multi-agent foraging strategy in 3-D cluttered workspace. |
| first_indexed | 2024-03-10T21:35:46Z |
| format | Article |
| id | doaj.art-79cec0bbf1c1401580e29409e7a36a1d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T21:35:46Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-79cec0bbf1c1401580e29409e7a36a1d2023-11-19T15:01:59ZengMDPI AGSensors1424-82202023-09-012319805010.3390/s23198050Three-Dimensional Multi-Agent Foraging Strategy Based on Local InteractionJonghoek Kim0System Engineering Department, Sejong University, Seoul 05006, Republic of KoreaThis paper considers a multi-agent foraging problem, where multiple autonomous agents find resources (called pucks) in a bounded workspace and carry the found resources to a designated location, called the base. This article considers the case where autonomous agents move in unknown 3-D workspace with many obstacles. This article describes 3-D multi-agent foraging based on local interaction, which does not rely on global localization of an agent. This paper proposes a 3-D foraging strategy which has the following two steps. The first step is to detect all pucks inside the 3-D cluttered unknown workspace, such that every puck in the workspace is detected in a provably complete manner. The next step is to generate a path from the base to every puck, followed by collecting every puck to the base. Since an agent cannot use global localization, each agent depends on local interaction to bring every puck to the base. In this article, every agent on a path to a puck is used for guiding an agent to reach the puck and to bring the puck to the base. To the best of our knowledge, this article is novel in letting multiple agents perform foraging and puck carrying in 3-D cluttered unknown workspace, while not relying on global localization of an agent. In addition, the proposed search strategy is provably complete in detecting all pucks in the 3-D cluttered bounded workspace. MATLAB simulations demonstrate the outperformance of the proposed multi-agent foraging strategy in 3-D cluttered workspace.https://www.mdpi.com/1424-8220/23/19/8050multi-agent foraging3D cluttered unknown workspaceforaging based on local interactionprovably complete searchmulti-agent resource gathering |
| spellingShingle | Jonghoek Kim Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction Sensors multi-agent foraging 3D cluttered unknown workspace foraging based on local interaction provably complete search multi-agent resource gathering |
| title | Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction |
| title_full | Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction |
| title_fullStr | Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction |
| title_full_unstemmed | Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction |
| title_short | Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction |
| title_sort | three dimensional multi agent foraging strategy based on local interaction |
| topic | multi-agent foraging 3D cluttered unknown workspace foraging based on local interaction provably complete search multi-agent resource gathering |
| url | https://www.mdpi.com/1424-8220/23/19/8050 |
| work_keys_str_mv | AT jonghoekkim threedimensionalmultiagentforagingstrategybasedonlocalinteraction |