Path Planning and Task Assignment for Data Retrieval from Wireless Sensor Nodes Relying on Game-Theoretic Learning

被引：0

作者：

Papatheodorou, Sotiris ^{[1
]}

Smyrnakis, Michalis ^{[1
]}

Hamidou, Tembine ^{[1
]}

Tzes, Anthony ^{[1
]}

机构：

[1] New York Univ Abu Dhabi, Elect & Comp Engn, POB 129188, Abu Dhabi, U Arab Emirates

来源：

2018 5TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT) | 2018年

基金：

欧盟地平线“2020”;

关键词：

Robotic Data Mule; Wireless Sensor Networks; Multi-Agent Systems; Distributed Optimization; Game-Theoretic Learning;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the planner computes all possible tours that each robot can make if it needs to visit a part of or the entire set of targets. Each segment of the tour relies on a minimum energy path planning algorithm. After the computation of all possible tour-segments, a utility function penalizing the overall energy consumption is formed. Rather than relying on the NP-hard Mobile Element Scheduling (MES) MILP problem, an approach using elements from game theory is employed. The suggested approach converges fast for most practical reasons thus allowing its utilization in near real time applications. Simulations are offered to highlight the efficiency of the developed algorithm.

引用

页码：1073 / 1078

页数：6

共 18 条

[1]

[Anonymous], 1991, Game Theory

[2]

[Anonymous], 1998, THEORY LEARNING GAME

[3]

Applegate D.L., 2011, TRAVELING SALESMAN P

[4] Robotic Data Mules for Collecting Data over Sparse Sensor Fields [J].

Bhadauria, Deepak ;

Tekdas, Onur ;

Isler, Volkan .

JOURNAL OF FIELD ROBOTICS, 2011, 28 (03) :388-404

[5]

Mei YG, 2004, IEEE INT CONF ROBOT, P4344

[6]

Miyasawa Koichi., 1961, On the Convergence of the Learning Process in a 2 x 2 Non-Zero-Sum Two-Person Game

[7] Potential games [J].

Monderer, D ;

Shapley, LS .

GAMES AND ECONOMIC BEHAVIOR, 1996, 14 (01) :124-143

[8] EVOLUTIONARY SELECTION DYNAMICS IN GAMES - CONVERGENCE AND LIMIT PROPERTIES [J].

NACHBAR, JH .

INTERNATIONAL JOURNAL OF GAME THEORY, 1990, 19 (01) :59-89

[9] EQUILIBRIUM POINTS IN N-PERSON GAMES [J].

NASH, JF .

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA, 1950, 36 (01) :48-49

[10] NEAREST NEIGHBORHOOD OPERATIONS WITH GENERALIZED VORONOI DIAGRAMS - A REVIEW [J].

OKABE, A ;

BOOTS, B ;

SUGIHARA, K .

INTERNATIONAL JOURNAL OF GEOGRAPHICAL INFORMATION SYSTEMS, 1994, 8 (01) :43-71

← 1 2 →