DRL-searcher: A unified approach to multi-robot efficient search for a moving target
This article studies the multirobot efficient search (MuRES) for a nonadversarial moving target problem, whose objective is usually defined as either minimizing the target’s expected capture time or maximizing the target’s capture probability within a given time budget. Different from canonical MuRE...
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sg-smu-ink.sis_research-92202023-10-13T09:18:03Z DRL-searcher: A unified approach to multi-robot efficient search for a moving target GUO, Hongliang PENG, Qihang CAO, Zhiguang JIN, Yaochu This article studies the multirobot efficient search (MuRES) for a nonadversarial moving target problem, whose objective is usually defined as either minimizing the target’s expected capture time or maximizing the target’s capture probability within a given time budget. Different from canonical MuRES algorithms, which target only one specific objective, our proposed algorithm, named distributional reinforcement learning-based searcher (DRL-Searcher), serves as a unified solution to both MuRES objectives. DRL-Searcher employs distributional reinforcement learning (DRL) to evaluate the full distribution of a given search policy’s return, that is, the target’s capture time, and thereafter makes improvements with respect to the particularly specified objective. We further adapt DRL-Searcher to the use case without the target’s real-time location information, where only the probabilistic target belief (PTB) information is provided. Lastly, the recency reward is designed for implicit coordination among multiple robots. Comparative simulation results in a range of MuRES test environments show the superior performance of DRL-Searcher to state of the arts. Additionally, we deploy DRL-Searcher to a real multirobot system for moving target search in a self-constructed indoor environment with satisfying results. 2023-05-22T07:00:00Z text https://ink.library.smu.edu.sg/sis_research/8217 info:doi/10.1109/TNNLS.2023.3274667 Research Collection School Of Computing and Information Systems eng Institutional Knowledge at Singapore Management University Budget control Heuristic algorithms Industrial robots Learning algorithms Modular robots Multipurpose robots Robot learning Artificial Intelligence and Robotics Theory and Algorithms |
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Budget control Heuristic algorithms Industrial robots Learning algorithms Modular robots Multipurpose robots Robot learning Artificial Intelligence and Robotics Theory and Algorithms GUO, Hongliang PENG, Qihang CAO, Zhiguang JIN, Yaochu DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
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This article studies the multirobot efficient search (MuRES) for a nonadversarial moving target problem, whose objective is usually defined as either minimizing the target’s expected capture time or maximizing the target’s capture probability within a given time budget. Different from canonical MuRES algorithms, which target only one specific objective, our proposed algorithm, named distributional reinforcement learning-based searcher (DRL-Searcher), serves as a unified solution to both MuRES objectives. DRL-Searcher employs distributional reinforcement learning (DRL) to evaluate the full distribution of a given search policy’s return, that is, the target’s capture time, and thereafter makes improvements with respect to the particularly specified objective. We further adapt DRL-Searcher to the use case without the target’s real-time location information, where only the probabilistic target belief (PTB) information is provided. Lastly, the recency reward is designed for implicit coordination among multiple robots. Comparative simulation results in a range of MuRES test environments show the superior performance of DRL-Searcher to state of the arts. Additionally, we deploy DRL-Searcher to a real multirobot system for moving target search in a self-constructed indoor environment with satisfying results. |
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GUO, Hongliang PENG, Qihang CAO, Zhiguang JIN, Yaochu |
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GUO, Hongliang PENG, Qihang CAO, Zhiguang JIN, Yaochu |
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GUO, Hongliang |
title |
DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
title_short |
DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
title_full |
DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
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DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
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DRL-searcher: A unified approach to multi-robot efficient search for a moving target |
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drl-searcher: a unified approach to multi-robot efficient search for a moving target |
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Institutional Knowledge at Singapore Management University |
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2023 |
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https://ink.library.smu.edu.sg/sis_research/8217 |
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