Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems
Giovanni D’Urso James Ju Heon Lee Oscar Pizarro Chanyeol Yoo Robert Fitch Giovanni D’Urso James Ju Heon Lee Oscar Pizarro Chanyeol Yoo Robert Fitch
Systems of multiple low-cost, underactuated floats combined with fully actuated surface vessels can improve the scalability and cost-effectiveness of autonomous systems for marine science and environmental monitoring. Here, we consider a coordination problem where surface vessels must drop off floats at locations such that they are likely to drift to observe given points of interest, and later mus...