Empowerment-Driven Single Agent Exploration For Locating Multiple Wireless Transmitters (2018)
Abstract
Unmanned Aerial Vehicles (UAVs) have attracted significant interest in recent years, as they have shown to be effective in supporting a wide range of applications in many different areas, including logistics, search and rescue (SAR) [3], public safety communications, [8], infrastructure monitoring [9], precision agriculture [4], forestry [5], and telecommunications [2]. Specifically we focus on those of search and exploration in the context of search and rescue. In our presented work, success is measured in an agents ability to find all transmitters in as small a time as possible. Through the use of a challenging discretized simulation environment, we investigate the practicality of an empowerment-driven exploration behaviour (EEB) in order to locate an unknown number of wireless transmitters with minimal prior knowledge about the locations of obstacles, transmitters and their properties. With problem specific adaptations to the algorithm, including the ability to detect non-identifying signals from transmitters, when compared with a random walk agent and an idealistic Bayesian agent, the empowerment algorithm performs near to that of the Bayesian agent with unrealistic information about the environment. We show that our empowerment-driven algorithm has practical potential and lays a foundation for future work in this area.
Keywords
Empowerment; Search and Rescue; Wireless TransmittersANZSRC Fields of Research
10 - Technology::1005 - Communications Technologies::100510 - Wireless Communications11 - Medical and Health Sciences::1117 - Public Health and Health Services::111705 - Environmental and Occupational Health and Safety
Related items
Showing items related by title, author, creator and subject.
-
An Information-Motivated Exploration Agent to Locate Stationary Persons with Wireless Transmitters in Unknown Environments
Barry D; Willig, Andreas; Woodward, Graeme (MDPI AG, 2021)Unmanned Aerial Vehicles (UAVs) show promise in a variety of applications and recently were explored in the area of Search and Rescue (SAR) for finding victims. In this paper we consider the problem of finding multiple ... -
Wireless Dependable IoT/M2M for Disaster Rescue and Healthcare - Reliable Machine Centric Sensing and Controlling
Noi M; Seimiya S; Harada K; Kobayashi T; Woodward GK; Kohno R (2017)Wireless body area network (BAN) has been researched and developed for ubiquitous and remote medicine and its international standard IEEE802.15.6 was established in February, 2012. In order to find missing victims and ... -
Overview and analysis of digital technologies for construction safety management
Guo H; Scheepbouwer E; Yiu T; Gonzalez V (2017)Digital technologies are increasingly used to support safety management in the construction industry. Previous efforts were made to identify digital technologies for safety in the construction industry. However, ...