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Persistent surveillance by heterogeneous multi-agents using mutual information based on observation capability
http://hdl.handle.net/10131/0002001393
http://hdl.handle.net/10131/00020013936e766d91-c7d8-4248-ad32-a468adc8733e
| 名前 / ファイル | ライセンス | アクション |
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Persistent_surveillance_by_heterogeneous_multi-agents_using_mutual_information_based_on_observation_capability.pdf (4.3 MB)
Download is available from 2025/10/24.
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-11-07 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Persistent surveillance by heterogeneous multi-agents using mutual information based on observation capability | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 主題 | Artificial Intelligence(en), Multi-agent systems, Swarm robotics, Swarm intelligence, Persistent surveillance(en) | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | embargoed access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_f1cf | |||||||||||
| 著者 |
Kobayashi, Shohei
× Kobayashi, Shohei
× Kobayashi, Kazuho
× Higuchi, Takehiro
e-Rad_Researcher
20403652
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Using many agents with different characteristics is more effective than using a homogeneous agent to observe a large environment persistently. This study focuses on the heterogeneity of agents’ observation capabilities, such as sensor resolution, by representing these differences through probabilistic observation. This representation allows agents to compute mutual information when selecting surveillance areas and move to where they can obtain the most information from their observations. In addition, we introduce confidence decay for three or more states, a strategy to encourage agents to revisit locations that have not been observed for an extended period of time. Confidence decay represents a gradual decrease in the estimates’ reliability since the state may have changed during the unobserved period. This strategy increases the mutual information of locations that have not been observed for a long time so that the agents will move toward them. Simulations in a changing environment show that the proposed method enables heterogeneous multi-agents to perform persistent surveillance according to their observation capabilities. It also outperforms the existing partition and sweep method in a quantitative comparison of observation accuracy. | |||||||||||
| 言語 | en | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | This work was presented in part at the joint symposium of the 29th International Symposium on Artificial Life and Robotics, the 9th International Symposium on BioComplexity, and the 7th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Beppu, Oita and Online, January 24–26, 2024). | |||||||||||
| 言語 | en | |||||||||||
| 書誌情報 |
en : Artificial Life and Robotics 巻 Early Access, ページ数 8, 発行日 2024-10-23 |
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| ISSN | ||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||
| 収録物識別子 | 14335298 | |||||||||||
| DOI | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1007/s10015-024-00976-1 | |||||||||||
| 権利 | ||||||||||||
| 言語 | en | |||||||||||
| 権利情報Resource | https://www.springernature.com/jp/open-science/policies/journal-policies | |||||||||||
| 権利情報 | This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: http://dx.doi.org/10.1007/s10015-024-00976-1 | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | AM | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||||||||
