Conference Papers

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    Deploy and search strategy for multi-agent systems using Voronoi partitions
    (2007) Guruprasad, K.R.; Ghose, D.
    In this paper we analyze a deploy and search strategy for multi-agent systems. Mobile agents equipped with sensors carry out search operation in the search space. The lack of information about the search space is modeled as an uncertainty density distribution over the space, and is assumed to be known to the agents a priori. In each step, the agents deploy themselves in an optimal way so as to maximize per step reduction in the uncertainty density. We analyze the proposed strategy for convergence and spatial distributedness. The control law moving the agents has been analyzed for stability and convergence using LaSalle's invariance principle, and for spatial distributedness under a few realistic constraints on the control input such as constant speed, limit on maximum speed, and also sensor range limits. The simulation experiments show that the strategy successfully reduces the average uncertainty density below the required level. © 2007 IEEE.
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    Multi-agent search using sensors with heterogeneous capabilities
    (International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS) info@ifaamas.org, 2008) Guruprasad, K.R.; Ghose, D.
    In this paper we introduce a new concept namely, generalized Voronoi partition and use it to formulate two heterogeneous multi-agent search strategies. The core idea is optimal deployment of agents having sensors with heterogeneous capabilities, in a search space so as to maximize search effectiveness. We address a few theoretical issues such as optimality of deployment, convergence and spatial distributedness of the control law and the search strategies. Copyright © 2008, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
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    Multi-agent search strategy based on centroidal Voronoi configuration
    (2010) Guruprasad, K.R.; Ghose, D.
    We propose a combined deploy and search strategy for multi-agent systems using Voronoi partition. Agents such as mobile robots (AGVs, UAVs, or USVs) search the space to acquire knowledge about the space. Lack of information about the search space is modeled as an uncertainty density distribution, which is known a priori to all the agents at the beginning of search. It is shown that when the agents are located at the centroid of Voronoi cells, computed with the perceived uncertainty density, reduction in uncertainty density is maximized. While moving toward this optimal configuration, the agents simultaneously perform search acquiring the information about the search space, thereby reducing the uncertainty density. The proposed search strategy is guaranteed to reduce the average uncertainty density to any arbitrary level. Simulation experiments are carried out to validate the proposed search strategy and compare its performance with sequential deploy and search strategy proposed in the literature. The simulation results indicate that the proposed strategy performs better than sequential deploy and search in terms of faster search, and smoother and shorter robot trajectories. ©2010 IEEE.
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    Communication Architecture for Autonomous Aerial Traffic Management
    (Institute of Electrical and Electronics Engineers Inc., 2022) Paul, S.; Jana, S.; Chopra, O.; Ratnoo, A.; Ghose, D.
    This paper presents a multi-agent communication paradigm for autonomous aerial traffic management. Multi-drone missions based on the existing ROS-based communication architecture heavily depend on the master node, and communication delay between nodes might not be sufficient for efficient inter-agent collision avoidance. In this paper, we have proposed a hybrid ROS-ROS2 communication architecture for centralised traffic management with the provision of distributed communication for collision avoidance and conflict resolution at intersections. The base station server responsible for traffic management runs on a ROS2 environment, ROS is used for communication with each onboard autopilot, and an intermediate add-on-module interfaces ROS and ROS2 messages. The content of the communication packets between the different nodes is decided based on the design requirements. Overall communication architecture is validated through simulation and hardware experiments. © 2022 IEEE.