This paper aims to present a distributed Bayesian approach with connectivity maintenance to manage a multi-agent network search for a target on a two-dimensional plane.
The Bayesian framework is used to compute the local probability density functions (PDFs) of the target and obtain the global PDF with the consensus algorithm. An inverse power iteration algorithm is introduced to estimate the algebraic connectivity λ2 of the network. Based on the estimated λ2, the authors design a potential field for the connectivity maintenance. Then, based on the detection probability function, the authors design a potential field for the search target. The authors combine the two potential fields and design a distributed gradient-based control for the agents.
The inverse power iteration algorithm can distributed estimate the algebraic connectivity by the agents. The agents can efficient search the target with connectivity maintenance with the designed distributed gradient-based search algorithm.
Previous study has paid little attention to the multi-agent search problem with connectivity maintenance. Our algorithm guarantees that the strongly connected graph of the multi-agent communication topology is always established while performing the distributed target search problem.
