Foraging Theory for Autonomous Vehicle Decision-making System Design

Foraging theory for dimensionality reduction of clustered data

“…The assumption in the prey model is that the forager obtains energy by means of many repetitions of the following sequence: search, encounter, and decide either to attack or to continue searching. Next, we provide an overview of the prey model following a treatment similar to Quijano et al (2006), Andrews et al (2007b).…”

“…The average rate of energy gain J for the forager is the expected energy obtained divided by the expected total amount of time spent processing preys. If a forager spends on average T s time units searching, then we have (Quijano et al 2006;Andrews et al 2007b):…”

“…Algorithm 1 (adapted from Andrews et al 2007b;Pirolli 2007) describes the prey model algorithm in light of the above discussion.…”

“…Foraging concepts can be applied for both individual animals (Stephens and Krebs 1986) and social organisms (Giraldeau and Caraco 2000), and they have been successfully applied in several engineering applications. For example, individual foraging concepts are applied to develop a controller for a multizone temperature control problem in Quijano et al (2006) and to fit an autonomous vehicle control problem in Andrews et al (2007b). Additionally, social foraging ideas are introduced to create an algorithm that solves a temperature control problem as an optimal resource allocation problem in Quijano and Passino (2007), and to design a multiagent system applied to an autonomous vehicle cooperative search problem in Andrews et al (2007a).…”

Navigation with foraging

“…salvaging the floating cargo is also desirable. In this paper we focus on quantifying the cumulative effects of foraging on path length 1 . In particular, we investigate two special cases of navigation with foraging: (1) always forage the point that minimizes goal-heading deviation, (2) always forage the closest point that has a positive movement component vs. the goal.…”