Multi-agent sensor data collection with attrition risk

Jeffrey Hudack, Jae C. Oh

Research output: Contribution to journalConference Articlepeer-review

7 Scopus citations


We introduce a multi-agent route planning problem for collecting sensor data in hostile or dangerous environments when communication is unavailable. Solutions must consider the risk of losing robots as they travel through the environment, maximizing the expected value of a plan. This requires plans that balance the number of agents used with the risk of losing them and the data they have collected so far. While there are existing approaches that mitigate risk during task assignment, they do not explicitly account for the loss of robots as part of the planning process. We analyze the unique properties of the problem and provide a hierarchical agglomerative clustering algorithm that finds high value solutions with low computational overhead. We show that our solution is highly scalable, exhibiting performance gains on large problem instances with thousands of tasks.

Original languageEnglish (US)
Pages (from-to)166-174
Number of pages9
JournalProceedings International Conference on Automated Planning and Scheduling, ICAPS
StatePublished - 2016
Event26th International Conference on Automated Planning and Scheduling, ICAPS 2016 - London, United Kingdom
Duration: Jun 12 2016Jun 17 2016

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems and Management


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