A human-supported robot swarm information gathering task planning method

doi:10.23919/JSEE.2023.000143

Abstract

Abstract:

It is a complex system problem to dispatch the robot swarm to complete exploration missions with high quality in uncertain environments. To solve the challenge, an algorithm of the robot swarm exploration mission planning supported by humans is proposed in this paper. Firstly, the target environment is decomposed into several areas, where it takes a price to explore these areas and each robot gets a reward after exploring. Secondly, the exploration problem is modeled as a multi-agent dynamic programming problem with the help of humans. Then, an extensible greedy based planning algorithm is proposed, where the searching policy of each robot is calculated based on the judgment index. Finally, the proposed algorithm is optimal through theoretical analysis, and simulation experiments show that the algorithm can provide high-quality solutions for the swarm exploration.

Key words: human-swarm interaction, multi-agent system, dynamic programming, greedy exploration

Xin Zhou, Tian Jing, Zhijie Huang, Di Wu, Tao Wang. A human-supported robot swarm information gathering task planning method[J]. Journal of Systems Engineering and Electronics, 2026, 37(5): 1563-1573.

Figures/Tables 3

References 21

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