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040 |aCaOODSP|beng|erda|cCaOODSP
0410 |aeng|beng|bfre
0861 |aD68-4/044-2011E-PDF
1001 |aMyers, Vincent, |eauthor.
24510|aCooperative dynamic pathfinding for multiple autonomous underwater vehicles using D* / |cVincent Myers, DRDC Atlantic.
264 1|aDartmouth NS : |bDefence Research and Development Canada - Atlantic, |c2011.
264 4|c©2011
300 |a1 online resource (viii, 26 pages, 2 unnumbered pages) : |bcolour illustrations.
336 |atext|btxt|2rdacontent
337 |acomputer|bc|2rdamedia
338 |aonline resource|bcr|2rdacarrier
4901 |aTechnical report ; |vDRDC Atlantic TR 2011-044
500 |aCover title.
500 |a"January 2011."
504 |aIncludes bibliographical references (pages 24-25).
5203 |a"A method for finding least-cost paths through an area by collaborating agents is presented. The method relies on extending existing dynamic path planning algorithms, namely D*, to the multi-agent case. The search tree is centrally updated and then used by the agents to cooperatively decide upon which areas to survey, the results of which are then used to update the current best path. Several numerical examples are given where it is shown that, on average, a competitive ratio — the ratio between the cost of the path found by dynamic algorithm and one operating with full knowledge of the area—of nearly one can be achieved while requiring a survey of less than half the total area. It is also shown that the total mission time scales linearly with the number of vehicles, meaning little to no effort wasted on vehicle coordination. In the context of mine countermeasures (MCM) operations with autonomous underwater vehicles (AUVs), the results indicate that a channel through a potentially mined area representing an amount of risk nearly equal to the optimal path can be found in significantly less time than the time required to survey the entire area"--Abstract, page i.
546 |aIncludes abstracts and summaries in English and French.
7101 |aCanada. |bDefence R&D Canada.
7101 |aCanada. |bDefence R&D Canada - Atlantic.
830#0|aTechnical report (Defence R&D Canada)|vDRDC Atlantic TR 2011-044.|w(CaOODSP)9.820558
85640|qPDF|s468 KB|uhttps://publications.gc.ca/collections/collection_2019/rddc-drdc/D68-4-044-2011-eng.pdf