Master of Engineering (Research) / In many multi-objective missions there are situations when actions based on maximum information gain may not be the `best' given the overall mission objectives. In addition to properties such as entropy, information also has value, which is situationally dependent. This thesis examines the concept of information value in a multi-objective mission from an information theory perspective. A derivation of information value is presented that considers both the context of information, via a fused world belief state, and a system mission. The derived information value is used as part of the objective function for control of autonomous platforms within a framework developed for human robot cooperative control. A simulated security operation in a structured environment is implemented to test both the framework, and information value based control. The simulation involves a system of heterogeneous, sensor equipped Unmanned Aerial Vehicles (UAVs), tasked with gathering information regarding ground vehicles. The UAVs support an e ort to protect a number of important buildings in the area of operation. Thus, the purpose of the information is to aid the security operation by ensuring that security forces can deploy e ciently to counter any threat. A number of di erent local controllers using information based control are implemented and compared to a task based control scheme. The relative performance of each is examined with respect to a number of performance metrics with conclusions drawn regarding the performance and exibility of information value based control.
| Identifer | oai:union.ndltd.org:ADTP/202226 |
| Date | January 2008 |
| Creators | Brown, Shaun |
| Publisher | University of Sydney., School of Aerospace, Mechanical and Mechatronic Engineering |
| Source Sets | Australiasian Digital Theses Program |
| Detected Language | English |
| Rights | The author retains copyright of this thesis., http://www.library.usyd.edu.au/copyright.html |
Page generated in 0.0009 seconds