Multi-agent search using sensors with heterogeneous capabilities

Abstract

In this paper we introduce a new concept namely, generalized Voronoi partition and use it to formulate two heterogeneous multi-agent search strategies. The core idea is optimal deployment of agents having sensors with heterogeneous capabilities, in a search space so as to maximize search effectiveness. We address a few theoretical issues such as optimality of deployment, convergence and spatial distributedness of the control law and the search strategies. Copyright � 2008, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.