Large-Scale Multi-Robot Search
Abstract
Approved for Public ReleaseWe propose to address fundamental challenges in multi-vehicle mine-hunting, change detection,and similarrobotic search applications. We seek advances in distributed inference and controlthat enable a heterogeneous team of vehicles to rapidly and collaboratively conduct subsea searchmissions over a large area. We will investigate the use of spatially-continuous representations ofthe environment (e.g., clutter density, expected communication performance, etc) for which wecan consider new approaches to multi-agent control, and that admit sparse low-dimensional representations.Due to the extremely low bandwidth communication channel available underwater,sparse representations of the environment are necessary for distributed inference among a team ofagents, and for novel approaches to change detection over larger areas.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 12, 2023
- Source ID
- N000142312345
Entities
People
- Daniel J. Stilwell
Organizations
- Office of Naval Research
- United States Navy
- Virginia Tech