Two Agent Cooperative Search Using Game Models with Endurance Time Constraints

Sujit P B (1) , Debasish Ghose (2)

1 University of Porto
2 Department of Aerospace Engineering [Bangalore]

In this paper, we present route planning algorithms and game theoretical strategies for two Unmanned Aerial Vehicles (UAVs) cooperatively searching an unknown region consisting of hexagonal cells that possess an uncertainty value depending on the information available in that cell. The UAVs have to cooperatively search these cells and reduce the uncertainty of the entire region taking limited endurance, sensor and communication range constraints into account. The route planning algorithm selects only those cells that ensure that the agent will return to any one of the available bases. Using these cells, the agents form paths that the game theoretical strategies use to determine a path which maximizes uncertainty reduction taking the presence of the other agent into account. Monte-Carlo simulations are carried out to determine the performance of the search strategies and compared with greedy strategy with one, two and four steps look ahead step length paths.

Mots clés: Physical Sciences

Sujit P B, Debasish Ghose. Two Agent Cooperative Search Using Game Models with Endurance Time Constraints. Engineering Optimization, 2010, 42 (07), pp.617-639. ⟨10.1080/03052150903369837⟩. ⟨hal-00602596⟩