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Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms
- Publication Year :
- 2014
- Publisher :
- United States: NASA Center for Aerospace Information (CASI), 2014.
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Abstract
- Dynamic environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal paths through these environments. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially with the number of agents in the system. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance.
- Subjects :
- Cybernetics, Artificial Intelligence And Robotics
Aeronautics (General)
Subjects
Details
- Language :
- English
- Database :
- NASA Technical Reports
- Notes :
- NNA08CG83C
- Publication Type :
- Report
- Accession number :
- edsnas.20140013204
- Document Type :
- Report