Abstract
We develop an environmental estimation method that allows large groups of agents to infer the value of an environmental field using measurements. Agents maintain estimates for subregions of the domain and communicate with local neighbors, so the method's communication and memory requirements do not increase with the number of agents, the size of the environment representation, or the agents' density in the environment. Despite the distributed representation, the union of individual estimates matches an estimate generated by a central computer with access to all measurements employing the variational inverse method, a finite element-based interpolation procedure. We also introduce a distributed query system, allowing users to determine an estimate anywhere in the domain without accessing all measurements or the full environment representation.
Original language | English (US) |
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Title of host publication | 2016 IEEE 55th Conference on Decision and Control, CDC 2016 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 5918-5924 |
Number of pages | 7 |
ISBN (Electronic) | 9781509018376 |
DOIs | |
State | Published - Dec 27 2016 |
Event | 55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: Dec 12 2016 → Dec 14 2016 |
Publication series
Name | 2016 IEEE 55th Conference on Decision and Control, CDC 2016 |
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Other
Other | 55th IEEE Conference on Decision and Control, CDC 2016 |
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Country/Territory | United States |
City | Las Vegas |
Period | 12/12/16 → 12/14/16 |
Funding
This work is supported by the Office of Naval Research, Grant N00014-13-1-0331
ASJC Scopus subject areas
- Artificial Intelligence
- Decision Sciences (miscellaneous)
- Control and Optimization