Multi-Agent Search under Uncertainty

Plan optimal multi-robot search paths despite imperfect sensor information

When multiple robots must locate targets in presence of false positive and false negative detection errors, path planning becomes extraordinarily complex. Multi-Agent Search under Uncertainty addresses this challenge directly. Written by the researchers with combined expertise spanning defense systems, applied mathematics, and machine learning, this book delivers both theoretical foundations in search and screening theory and ready-to-use algorithms for practical implementation.

The book covers cooperative search and navigation methods for autonomous mobile agents operating with incomplete or noisy information. Readers learn how Deep Q-Learning enables robots to develop complex behaviors through trial-and-error interactions rather than pre-programmed instructions. Applications span search and rescue operations, military surveillance, environmental monitoring, and security systems. An accompanying website provides Python code for simulation practice.

Key topics include:

• Value-based Q-Learning methods where robots learn expected rewards for specific actions in given states under sensor uncertainty conditions
• Multi-agent reinforcement learning approaches for swarm robotics where multiple robots learn cooperatively to accomplish collaborative search tasks
• Deep reinforcement learning using neural networks to process high-dimensional sensory inputs and execute complex search and tracking behaviors
• Algorithms for finding and tracking both stationary and moving targets while minimizing detection time despite false negative and positive readings
• Theoretical contributions to search and screening theory alongside practical algorithms validated in autonomous robotic systems development

Designed for graduate students and researchers in robotics and reinforcement learning, this book bridges advanced theory with practical application. Professional developers building autonomous systems will find algorithms tested in real-world robotic development.