2022
DOI: 10.48550/arxiv.2203.06440
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Multi-step dual control for exploration and exploitation in autonomous search with convergence guarantee

Abstract: Motivated by the recently proposed dual control for exploration and exploitation (DCEE) concept, this paper presents a Multi-Step DCEE (MS-DCEE) framework with guaranteed convergence for autonomous search of a source of airborne dispersion. Different from the existing stochastic model predictive control (SMPC) algorithm and informative path planning (IPP) approaches, the proposed MS-DCEE approach uses the current and future input to not only drive the agent towards the estimated source location (exploitation) … Show more

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