Title: An Integrated Decision and Control Theoretic Solution to Multi-Agent Co-Operative Search Problems,
Abstract: This paper considers the problem of autonomous multi-agent cooperative target
search in an unknown environment using a decentralized framework under a
no-communication scenario. The targets are considered as static targets and the
agents are considered to be homogeneous. The no-communication scenario
translates as the agents do not exchange either the information about the
environment or their actions among themselves. We propose an integrated
decision and control theoretic solution for a search problem which generates
feasible agent trajectories. In particular, a perception based algorithm is
proposed which allows an agent to estimate the probable strategies of other
agents' and to choose a decision based on such estimation. The algorithm shows
robustness with respect to the estimation accuracy to a certain degree. The
performance of the algorithm is compared with random strategies and numerical
simulation shows considerable advantages.