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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence

Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects

February 1, 2023

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Authors

Hoa Van Nguyen

The University of Adelaide


Hamid Rezatofighi

The University of Adelaide


Ba-Ngu Vo

Curtin University


Damith C. Ranasinghe

The University of Adelaide


DOI:

10.1609/aaai.v34i05.6213


Abstract:

We consider the challenging problem of online planning for a team of agents to autonomously search and track a time-varying number of mobile objects under the practical constraint of detection range limited onboard sensors. A standard POMDP with a value function that either encourages discovery or accurate tracking of mobile objects is inadequate to simultaneously meet the conflicting goals of searching for undiscovered mobile objects whilst keeping track of discovered objects. The planning problem is further complicated by misdetections or false detections of objects caused by range limited sensors and noise inherent to sensor measurements. We formulate a novel multi-objective POMDP based on information theoretic criteria, and an online multi-object tracking filter for the problem. Since controlling multi-agent is a well known combinatorial optimization problem, assigning control actions to agents necessitates a greedy algorithm. We prove that our proposed multi-objective value function is a monotone submodular set function; consequently, the greedy algorithm can achieve a (1-1/e) approximation for maximizing the submodular multi-objective function.

Topics: AAAI

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HOW TO CITE:

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects Proceedings of the AAAI Conference on Artificial Intelligence (2020) 7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects AAAI 2020, 7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe (2020). Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects. Proceedings of the AAAI Conference on Artificial Intelligence, 7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects. Proceedings of the AAAI Conference on Artificial Intelligence 2020 p.7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. 2020. Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects. "Proceedings of the AAAI Conference on Artificial Intelligence". 7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. (2020) "Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects", Proceedings of the AAAI Conference on Artificial Intelligence, p.7227-7235

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe, "Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects", AAAI, p.7227-7235, 2020.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. "Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects". Proceedings of the AAAI Conference on Artificial Intelligence, 2020, p.7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. "Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects". Proceedings of the AAAI Conference on Artificial Intelligence, (2020): 7227-7235.

Hoa Van Nguyen||Hamid Rezatofighi||Ba-Ngu Vo||Damith C. Ranasinghe. Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Objects. AAAI[Internet]. 2020[cited 2023]; 7227-7235.


ISSN: 2374-3468


Published by AAAI Press, Palo Alto, California USA
Copyright 2022, Association for the Advancement of
Artificial Intelligence 1900 Embarcadero Road, Suite
101, Palo Alto, California 94303 All Rights Reserved

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