Cooperative Active Learning-Based Dual Control for Exploration and Exploitation in Autonomous Search.
IEEE Trans Neural Netw Learn Syst
; PP2024 Jan 10.
Article
en En
| MEDLINE
| ID: mdl-38198266
ABSTRACT
In this article, a multi-estimator based computationally efficient algorithm is developed for autonomous search in an unknown environment with an unknown source. Different from the existing approaches that require massive computational power to support nonlinear Bayesian estimation and complex decision-making process, an efficient cooperative active-learning-based dual control for exploration and exploitation (COAL-DCEE) is developed for source estimation and path planning. Multiple cooperative estimators are deployed for environment learning process, which is helpful to improving the search performance and robustness against noisy measurements. The number of estimators used in COAL-DCEE is much smaller than that of the particles required for Bayesian estimation in information-theoretic approaches. Consequently, the computational load is significantly reduced. As an important feature of this study, the convergence and performance of COAL-DCEE are established in relation to the characteristics of sensor noises and turbulence disturbances. Numerical and experimental studies have been carried out to verify the effectiveness of the proposed framework. Compared with the existing approaches, COAL-DCEE not only provides convergence guarantee but also yields comparable search performance using much less computational power.
Texto completo:
1
Colección:
01-internacional
Banco de datos:
MEDLINE
Tipo de estudio:
Prognostic_studies
Idioma:
En
Revista:
IEEE Trans Neural Netw Learn Syst
Año:
2024
Tipo del documento:
Article