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Type: Conference paper
Title: Comparison of the pmht path planning algorithm with the genetic algorithm for multiple platforms
Author: Cheung, B.
Davey, S.
Gray, D.
Citation: Proceedings of the 13th International conference on Information fusion (FUSION), 26-29 July, 2010; pp.1-8
Publisher: EICC
Publisher Place: CD
Issue Date: 2010
ISBN: 9780982443811
Conference Name: International conference on information fusion (13th : 2010 : Edinburgh, UK)
Statement of
Brian Cheung, Samuel Davey and Douglas Gray
Abstract: This paper considers the problem of automati- cally coordinating multiple platforms to explore an unknown environment. The goal is a planning algorithm that provides a path for each platform in such a way that the collection of platforms cooperatively sense the environment in a glob- ally efficient manner. A collection of discrete locales of interest is assumed to be known and the platforms use these as waypoints. The key feature of the method is to treat the assignment of locales to platforms as a target tracking problem. This paper compares the use of the Probabilistic Multi Hypothesis Tracker (PMHT) as a method of performing multiple platform batch data association with the Genetic Algo-rithm to solve the modified Multi Travelling Salesman Problem.
Rights: © Copyright 2011 IEEE – All Rights Reserved
DOI: 10.1109/icif.2010.5712029
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Appears in Collections:Aurora harvest
Electrical and Electronic Engineering publications

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