Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson,Ugo Rosolia,Wyatt Ubellacker,Andrew Singletary,Aaron D. Ames,Kasper Johansson,Ugo Rosolia,Wyatt Ubellacker,Andrew Singletary,Aaron D. Ames
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially observable environment, using a hidden Markov model. First, we construct rapidly exploring random trees (RRTs) to introduce the mixed observable RRT for finding plausibl...
