Curtin University Homepage
  • Library
  • Help
    • Admin

    espace - Curtin’s institutional repository

    JavaScript is disabled for your browser. Some features of this site may not work without it.
    View Item 
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item

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

    96262.pdf (2.729Mb)
    Access Status
    Open access
    Authors
    Van Nguyen, Hoa
    Vo, Ba-Ngu
    Vo, Ba-Tuong
    Rezatofighi, H.
    Ranasinghe, D.C.
    Date
    2024
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Van Nguyen, H. and Vo, B.N. and Vo, B.T. and Rezatofighi, H. and Ranasinghe, D.C. 2024. Multi-Objective Multi-Agent Planning for Discovering and Tracking Multiple Mobile Objects. IEEE Transactions on Signal Processing. 72: pp. 3669-3685.
    Source Title
    IEEE Transactions on Signal Processing
    DOI
    10.1109/TSP.2024.3423755
    ISSN
    1053-587X
    Faculty
    Faculty of Science and Engineering
    School
    School of Elec Eng, Comp and Math Sci (EECMS)
    Funding and Sponsorship
    http://purl.org/au-research/grants/arc/LP160101177
    http://purl.org/au-research/grants/arc/LP200301507
    http://purl.org/au-research/grants/arc/FT210100506
    Remarks

    © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

    URI
    http://hdl.handle.net/20.500.11937/96498
    Collection
    • Curtin Research Publications
    Abstract

    —We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors have limited field-of-views, the usual planning strategy based solely on either tracking detected objects or discovering unseen objects is inadequate. To address this, we formulate a new information-based multi-objective multi-agent control problem, cast as a partially observable Markov decision process (POMDP). The resulting multi-agent planning problem is exponentially complex due to the unknown data association between objects and multi-sensor measurements; hence, computing an optimal control action is intractable. We prove that the proposed multi-objective value function is a monotone submodular set function, which admits low-cost suboptimal solutions via greedy search with a tight optimality bound. The resulting planning algorithm has a linear complexity in the number of objects and measurements across the sensors, and quadratic in the number of agents. We demonstrate the proposed solution via a series of numerical experiments with a real-world dataset.

    Related items

    Showing items related by title, author, creator and subject.

    • Online UAV Path Planning for Joint Detection and Tracking of Multiple Radio-Tagged Objects
      Nguyen, Hoa ; Rezatofighi, H.; Vo, Ba-Ngu ; Ranasinghe, D.C. (2019)
      We consider the problem of online path planning for joint detection and tracking of multiple unknown radio-tagged objects. This is a necessary task for gathering spatio-temporal information using UAVs with on-board sensors ...
    • Using dynamic time warping for multi-sensor fusion
      Ko, Ming Hsiao (2009)
      Fusion is a fundamental human process that occurs in some form at all levels of sense organs such as visual and sound information received from eyes and ears respectively, to the highest levels of decision making such as ...
    • Monocular vision based 3D vibration displacement measurement for civil engineering structures
      Shao, Y. ; Li, Ling ; Li, Jun ; Li, Qilin ; An, Senjian ; Hao, Hong (2023)
      Vibration displacement of civil structures are crucial information for structural health monitoring (SHM). However, the challenges and costs associated with traditional physical sensors make displacement measurement ...
    Advanced search

    Browse

    Communities & CollectionsIssue DateAuthorTitleSubjectDocument TypeThis CollectionIssue DateAuthorTitleSubjectDocument Type

    My Account

    Admin

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    Follow Curtin

    • 
    • 
    • 
    • 
    • 

    CRICOS Provider Code: 00301JABN: 99 143 842 569TEQSA: PRV12158

    Copyright | Disclaimer | Privacy statement | Accessibility

    Curtin would like to pay respect to the Aboriginal and Torres Strait Islander members of our community by acknowledging the traditional owners of the land on which the Perth campus is located, the Whadjuk people of the Nyungar Nation; and on our Kalgoorlie campus, the Wongutha people of the North-Eastern Goldfields.