Preprint Article Version 1 NOT YET PEER-REVIEWED

Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields

  1. SAS Laboratory, Mechanical Engineering & Mechanics Department, Drexel University, Philadelphia, PA 19104, USA
Version 1 : Received: 29 November 2016 / Approved: 29 November 2016 / Online: 29 November 2016 (07:20:46 CET)

How to cite: Hajieghrary, H.; Mox, D.; Hsieh, M. Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields. Preprints 2016, 2016110148 (doi: 10.20944/preprints201611.0148.v1). Hajieghrary, H.; Mox, D.; Hsieh, M. Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields. Preprints 2016, 2016110148 (doi: 10.20944/preprints201611.0148.v1).

Abstract

We present information theoretic search strategies for single and multi-robot teams to localize the source of biochemical contaminants in turbulent flows. The robots synthesize the information provided by sporadic and intermittent sensor readings to optimize their exploration strategy. By leveraging the spatio-temporal sensing capabilities of a mobile sensing network, our strategies result in control actions that maximize the information gained by the team while optimizing the time spent localizing the position of the biochemical source. By leveraging the team's ability to obtain simultaneous measurements at different locations, we show how a multi-robot team is able to speed up the search process resulting in a collaborative information theoretic search strategy. We validate our proposed strategies in both simulations and experiments.

Subject Areas

multi-agent systems; information theory; distributed control; value of information; collaborative search

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