Detection of Static and Mobile Targets by an Autonomous Agent with Deep Q-Learning Abilities.

Barouch Matzliach, Irad Ben-Gal, Evgeny Kagan

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

This paper addresses the problem of detecting multiple static and mobile targets by an autonomous mobile agent acting under uncertainty. It is assumed that the agent is able to detect targets at different distances and that the detection includes errors of the first and second types. The goal of the agent is to plan and follow a trajectory that results in the detection of the targets in a minimal time. The suggested solution implements the approach of deep Q-learning applied to maximize the cumulative information gain regarding the targets’ locations and minimize the trajectory length on the map with a predefined detection probability. The Q-learning process is based on a neural network that receives the agent location and current probability map and results in the preferred move of the agent. The presented procedure is compared with the previously developed techniques of sequential decision making, and it is demonstrated that the suggested novel algorithm strongly outperforms the existing methods.

Original languageEnglish
Article number8
Pages (from-to)1168
Number of pages1
JournalEntropy
Volume24
Issue number8
DOIs
StatePublished - 2022

Keywords

  • autonomous agent
  • deep Q-learning
  • neural network
  • probabilistic decision-making
  • search and detection

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