Multi-Agent Dynamic Area Coverage Based on Reinforcement Learning with Connected Agents

Dynamic area coverage with small unmanned aerial vehicle(UAV)systems is one of the major research topics due to limited payloads and the difficulty of decentralized decision-making process.Collaborative behavior of a group of UAVs in an unknown environment is another hard problem to be solved.In this paper,we propose a method for decentralized execution of multi-UAVs for dynamic area coverage problems.The proposed decentralized decision-making dynamic area coverage(DDMDAC)method utilizes reinforcement learning(RL)where each UAV is represented by an intelligent agent that learns policies to create collaborative behaviors in partially observable environment.Intelligent agents increase their global observations by gathering information about the environment by connecting with other agents.The connectivity provides a consensus for the decision-making process,while each agent takes decisions.At each step,agents acquire all reachable agents’states,determine the optimum location for maximal area coverage and receive reward using the covered rate on the target area,respectively.The method was tested in a multi-agent actor-critic simulation platform.In the study,it has been considered that each UAV has a certain communication distance as in real applications.The results show that UAVs with limited communication distance can act jointly in the target area and can successfully cover the area without guidance from the central command unit.

Coverage Area Based Opportunistic Forwarding Algorithm in VANETs

The highly mobility of vehicles, intermittent communication between the vehicles and the requirements of real time applications are some of the main challenges of multi-hop message delivery in Vehicular Ad Hoc Networks （ VANETs ）. There are also additional challenges, especially when the destination for the message delivery is a moving vehicle. In this paper, we propose a novel multihop message delivery method, called the Coverage Area-based oPportunistic message forwarding algorithm （CAP）. The main idea of CAP is to cover the potential area of a moving target vehicle as much as possible with the reachable area of the required delivery messages, so that the message can be delivered successfully. Because the success ratio and overhead of the multi-hop message delivery are two important but incompatible parameters in CAP, two tunings are discussed in the algorithm in order to maintain the balance of the two parameters. The simulation results show that compared with other reference approaches, CAP provides an efficient message delivery with a higher success ratio and a shorter message deNNy.

Ruppert's Delaunay Triangulation Refinement Scheme for Optimal RSUs Placement in Vehicle to Infrastructure Communication Network

Road Side Units(RSUs)are the essential component of vehicular communication for the objective of improving safety and mobility in the road transportation.RSUs are generally deployed at the roadside and more specifically at the intersections in order to collect traffic information from the vehicles and disseminate alarms and messages in emergency situations to the neighborhood vehicles cooperating with the network.However,the development of a predominant RSUs placement algorithm for ensuring competent communication in VANETs is a challenging issue due to the hindrance of obstacles like water bodies,trees and buildings.In this paper,Ruppert’s Delaunay Triangulation Refinement Scheme(RDTRS)for optimal RSUs placement is proposed for accurately estimating the optimal number of RSUs that has the possibility of enhancing the area of coverage during data communication.This RDTRS is proposed by considering the maximum number of factors such as global coverage,intersection popularity,vehicle density and obstacles present in the map for optimal RSUs placement,which is considered as the core improvement over the existing RSUs optimal placement strategies.It is contributed for deploying requisite RSUs with essential transmission range for maximal coverage in the convex map such that each position of the map could be effectively covered by at least one RSU in the presence of obstacles.The simulation experiments of the proposed RDTRS are conducted with complex road traffic environments.The results of this proposed RDTRS confirmed its predominance in reducing the end-to-end delay by 21.32%,packet loss by 9.38%with improved packet delivery rate of 10.68%,compared to the benchmarked schemes.

Robot SLAM with Ad hoc wireless network adapted to search and rescue environments

An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.

Rice yield estimation using remote sensing and simulation model

Remote sensing techniques have the potential to provide information on agricultural crops quantitatively , instantaneously and above all nondestructively over large areas . Crop simulation models describe the relationship between physiological processes in plants and environmental growing conditions. The integration between remote sensing data and crop growth simulation model is an important trend for yield estimation and prediction, since remote sensing can provide information on the actual status of the agricultural crop. In this study, a new model(Rice-SRS) was developed based mainly on ORYZA1 model and modified to accept remote sensing data as input from different sources. The model can accept three kinds of NDVI data: NOAA AVHRR(LAC)-NDVI,NOAA AVHRR(GAC)-NDVI and radiometric measurements-NDVI. The integration between NOAA AVHRR (LAC) data and simulation model as applied to Rice-SRS resulted in accurate estimates for rice yield in the Shaoxing area, reduced the estimating error to 1.027%,0.794% and (-0.787%) for early, single, and late season respectively. Utilizing NDVI data derived from NOAA AVHRR (GAC) as input in Rice-SRS can yield good estimation for rice yield with the average error (-7.43%). Testing the new model for radiometric measurements showed that the average estimation error for 10 varieties under early rice conditions was less than 1%.

An immune-swarm intelligence based algorithm for deterministic coverage problems of wireless sensor networks

A novel immune-swarm intelligence (ISI) based algorithm for solving the deterministic coverage problems of wireless sensor networks was presented.It makes full use of information sharing and retains diversity from the principle of particle swarm optimization (PSO) and artificial immune system (AIS).The algorithm was analyzed in detail and proper swarm size,evolving generations,gene-exchange individual order,and gene-exchange proportion in molecule were obtained for better algorithm performances.According to the test results,the appropriate parameters are about 50 swarm individuals,over 3 000 evolving generations,20%-25% gene-exchange proportion in molecule with gene-exchange taking place between better fitness affinity individuals.The algorithm is practical and effective in maximizing the coverage probability with given number of sensors and minimizing sensor numbers with required coverage probability in sensor placement.It can reach a better result quickly,especially with the proper calculation parameters.

Researches On The Robot Obstacle Avoidance Based On Fuzzy Control

With the continuous development of modem sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse.So the ability of the robot to complete the task is also valued and widely used.In this paper, the whole covered area of the local path planning uses a fuzzy control algorithm,which uses the robustness and an action of perception based on the biological behavior of the fuzzy control algorithm combined with itself.For obstacle avoidance system of mobile robots,we put forward the avoidance strategy of fully contacting the obstacles.And we have conducted a deep study about the theory and implementation methods.

Mapping Spatial Distribution Characteristics of Lineaments Extracted from Remote Sensing Image Using Fractal and Multifractal Models

Mapping mineral prospectivity in vegetated areas is a challenge. For this reason, we aimed to map spatial distribution characteristics of linear structures detected in remote sensing images using fractal and multifractal models. The selected study area was the Pinghe District of the Fujian Province（China）, located in the Shanghang-Yunxiao polymetallic and alunite ore belt（within the Wuyishan polymetallic belt）, where mineral resources such as copper, molybdenum, gold, silver, iron, lead, zinc, alunite and pyrophyllite have been discovered. The results of our study showed that：（1） the values of fractal dimension for all lineaments, NW-trending lineaments, and NE-trending lineaments, are 1.36, 1.32, and 1.23, respectively, indicating that these lineaments are statistically self-similar;（2） the fractal dimensions of the spatial distribution of the linear structures in the four selected hydrothermal-type ore deposits of the Pinghe District, named Zhongteng, Panchi, Xiaofanshan and Fanshan, are 1.43, 1.52, 1.37 and 1.37, respectively, which are higher than the mean value in South China;（3） the spatial distribution of the linear structures extracted from the remote sensing image and displayed by the contour map of fractal dimensions, correlates well with the known hydrothermal ore deposits; and（4） the results of the anomaly map decomposed by the spectrum-area（S-A） multifractal model is much better than the original fractal dimension contour map, which showed most of the known hydrothermal-type deposits occur in the high anomalous area. It is suggested that a high step tendency possibly matches with the boundary of the volcanic edifice and the deep fault controlling the development of the rock mass and the volcanic edifice. The complexity of the spatial distribution of mapped lineations（faults） in the Pinghe District, characterized by high values in the anomaly map, may be associated with the hydrothermal polymetallic ore mineralization in the study area.