文章基本信息

标题：On Optimal Policies for Risk-Aware Sensor Data Collection by a Mobile Agent
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作者：Amritha Prasad ; Jeffrey Hudack ; Shreyas Sundaram 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：321-326
DOI：10.1016/j.ifacol.2019.12.175
语种：English
出版社：Elsevier
摘要：We consider a scenario where a mobile agent is required to collect measurements from a geographically dispersed set of sensors and return them to a base. The agent faces a risk of destruction while traversing the environment to reach the sensors, and gets the reward for gathering a sensor measurement only if it successfully returns to base. We characterize several properties of the optimal policy for the agent based on a quantity that we term the "reward-to-risk" ratio of the tasks. We provide the optimal policy when the risk of destruction is sufficiently high, and evaluate several heuristic policies via simulation.
关键词：KeywordsAutonomous mobile robotsriskgraphsrouting algorithms