Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
711231 | IFAC-PapersOnLine | 2015 | 6 Pages |
Abstract
This paper presents a method for Finding the global maximum of a spatially varying Field using a multi-agent system. A surrogate model of the Field is determined via Kriging (Gaussian process regression) from a set of measurements collected by the agents. A criterion exploiting Kriging statistical properties is introduced for selecting new sampling points that each vehicle must rally. These new points are obtained as a compromise between improvement of the estimate of the global maximum and traveling distance. A cooperative control law is proposed to move the agents to the desired sampling points while avoiding collisions. Simulation results show the interest of the method and how it compares with a state-of-the-art solution.
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