论文标题
在线supsodular协调,有限跟踪遗憾:理论,算法和应用多机器人协调的应用
Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination
论文作者
论文摘要
我们在不可预测的环境中启用有效的协调,即在未来进化的环境中是未知的先验甚至对抗性的环境。我们受到自治的未来的激励,涉及多个机器人在动态,非结构化和对抗性环境中协调,以完成复杂的任务,例如目标跟踪,环境映射和区域监视。此类任务通常被建模为supporular supdular最大化协调问题。我们介绍了第一个具有有限的跟踪遗憾的子管道协调算法,即,关于最佳时变的最佳行动,有限的次级次要措施,这些行动知道未来是先验的未来。边界随着环境的对抗性能力而优雅地降级。它还量化了机器人必须重新选择的操作以“学习”以保持坐标的频率,就像他们知道未来是先验的。该算法要求机器人根据序列中先前机器人选择的动作顺序选择动作。尤其是,该算法将Fisher等人的开创性顺序贪婪算法推广。为了不可预测的环境,利用子模性和算法来跟踪最佳专家的问题。我们在目标跟踪的模拟方案中验证我们的算法。
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivated by the future of autonomy that involves multiple robots coordinating in dynamic, unstructured, and adversarial environments to complete complex tasks such as target tracking, environmental mapping, and area monitoring. Such tasks are often modeled as submodular maximization coordination problems. We introduce the first submodular coordination algorithm with bounded tracking regret, i.e., with bounded suboptimality with respect to optimal time-varying actions that know the future a priori. The bound gracefully degrades with the environments' capacity to change adversarially. It also quantifies how often the robots must re-select actions to "learn" to coordinate as if they knew the future a priori. The algorithm requires the robots to select actions sequentially based on the actions selected by the previous robots in the sequence. Particularly, the algorithm generalizes the seminal Sequential Greedy algorithm by Fisher et al. to unpredictable environments, leveraging submodularity and algorithms for the problem of tracking the best expert. We validate our algorithm in simulated scenarios of target tracking.