US 2024/0038080 A1 · SYSTEM FOR BALANCING ENERGY SOURCE EXPLORATION AND OBSERVATION TIME OF AUTONOMOUS SENSING VEHICLES

Abstract

A multi-objective method of optimizing the time the ASV spends ‘in observation’ or ‘sensing’ and the time the ASV spends ‘recharging’ or ‘energy harvesting’ is taught herein. The method comprises: collecting data on observation points of interest, determining whether or not energy harvesting is needed, and effectively visiting the observation points of interest between the search for energy harvesting.

Claims21

Dependent claims

1-6. (canceled)

A method for controlling an autonomous sensing vehicle (ASV) comprising:

preparing a reward mapping, where the reward map is a map of the area of interest divided into a geographical grid of grid points;
for each grid point storing information about whether the grid point is an observation point, a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
and for each grid point calculating a reward r based on whether the grid point is an observation point, and a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
calculating for each grid point a discounted probabilistic reward G is calculated using a weighted combination of the present and future rewards at that point and calculated as below:
G
t
=
[
r
t
+
γ
⁢
r
t
+
1
+
γ
2
⁢
r
t
+
2
+
…
]
≡
∑
i
=
0
∞
γ
i
⁢
r
t
+
i
where t indicates the present time, rt is the reward at time t and γ is a value between 0 and 1 and is the discount value for future reward, and rt is a distribution of rewards for moves in a particular direction based on the probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy, and the value of making an observation;
calculating at each grid point an expected value V of the discounted probabilistic reward G at that grid point;
and
directing the ASV to the adjacent grid point with the highest expected value V;
and further comprising a variable between 0 and 1 indicating the priority of seeking energy, where 1 indicates that the reward r is entirely based on finding energy and 0 indicates that the reward r is entirely based on making an observation, and increasing the variable as the useful energy of the ASV decreases, and using this variable to either:
(a) adjust the calculation of the reward r;
or
(b) modify the calculation of the expected value V.

46 more elements

A method for controlling an autonomous sensing vehicle (ASV) comprising:

preparing a map of energy sources, where the map of energy sources is a map of the area of interest divided into a geographical grid, and where at least two or more points on the grid are associated with a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
preparing a value function map, where the value function map is a map of the area of interest divided into the same geographical grid as the map of energy sources and at least one point on the grid is associated with a reward r, where r is determined by a formula reflecting whether the grid point is a potential source of energy or an observation point;
preparing a reward map, where the reward map is a map of the area of interest divided into the same geographical grid as the map of energy sources and the discounted probabilistic reward G of each grid point is calculated using a weighted combination of the present and future rewards at that point and calculated as below:
G
t
=
[
r
t
+
γ
⁢
r
t
+
1
+
γ
2
⁢
r
t
+
2
+
…
]
≡
∑
i
=
0
∞
γ
i
⁢
r
t
+
i
where t indicates the present time, rt is the reward at time t and γ is a value between 0 and 1 and is the discount value for future reward, and rt is a distribution of rewards for moves in a particular direction based on the probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy, and the value of making an observation;
preparing a value map, where the value map is a map of the area of interest divided into the same geographical grid as the map of energy sources, and the expected value V of each grid point is the expected value of the discounted probabilistic reward G of each grid point;
preparing a combined value map, where the combined value map is a map of the area of interest divided into the same geographical grid as the map of energy sources where expected value V for each grid point is modified to reflect the priority of seeking energy;
and
directing the ASV to the adjacent grid point with the highest combined value from the combined value map.

42 more elements

Dependencies are inferred from the claim text.

Abstract

Claims21

Dependent claims

1-6. (canceled)

A method for controlling an autonomous sensing vehicle (ASV) comprising:

preparing a reward mapping, where the reward map is a map of the area of interest divided into a geographical grid of grid points;
for each grid point storing information about whether the grid point is an observation point, a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
and for each grid point calculating a reward r based on whether the grid point is an observation point, and a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
calculating for each grid point a discounted probabilistic reward G is calculated using a weighted combination of the present and future rewards at that point and calculated as below:
G
t
=
[
r
t
+
γ
⁢
r
t
+
1
+
γ
2
⁢
r
t
+
2
+
…
]
≡
∑
i
=
0
∞
γ
i
⁢
r
t
+
i
where t indicates the present time, rt is the reward at time t and γ is a value between 0 and 1 and is the discount value for future reward, and rt is a distribution of rewards for moves in a particular direction based on the probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy, and the value of making an observation;
calculating at each grid point an expected value V of the discounted probabilistic reward G at that grid point;
and
directing the ASV to the adjacent grid point with the highest expected value V;
and further comprising a variable between 0 and 1 indicating the priority of seeking energy, where 1 indicates that the reward r is entirely based on finding energy and 0 indicates that the reward r is entirely based on making an observation, and increasing the variable as the useful energy of the ASV decreases, and using this variable to either:
(a) adjust the calculation of the reward r;
or
(b) modify the calculation of the expected value V.

46 more elements

A method for controlling an autonomous sensing vehicle (ASV) comprising:

preparing a map of energy sources, where the map of energy sources is a map of the area of interest divided into a geographical grid, and where at least two or more points on the grid are associated with a probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy;
preparing a value function map, where the value function map is a map of the area of interest divided into the same geographical grid as the map of energy sources and at least one point on the grid is associated with a reward r, where r is determined by a formula reflecting whether the grid point is a potential source of energy or an observation point;
preparing a reward map, where the reward map is a map of the area of interest divided into the same geographical grid as the map of energy sources and the discounted probabilistic reward G of each grid point is calculated using a weighted combination of the present and future rewards at that point and calculated as below:
G
t
=
[
r
t
+
γ
⁢
r
t
+
1
+
γ
2
⁢
r
t
+
2
+
…
]
≡
∑
i
=
0
∞
γ
i
⁢
r
t
+
i
where t indicates the present time, rt is the reward at time t and γ is a value between 0 and 1 and is the discount value for future reward, and rt is a distribution of rewards for moves in a particular direction based on the probability of finding energy, the expected energy amount, and an indication of the reliability of the probability of finding energy, and the value of making an observation;
preparing a value map, where the value map is a map of the area of interest divided into the same geographical grid as the map of energy sources, and the expected value V of each grid point is the expected value of the discounted probabilistic reward G of each grid point;
preparing a combined value map, where the combined value map is a map of the area of interest divided into the same geographical grid as the map of energy sources where expected value V for each grid point is modified to reflect the priority of seeking energy;
and
directing the ASV to the adjacent grid point with the highest combined value from the combined value map.

42 more elements

Dependencies are inferred from the claim text.

System for balancing energy source exploration and observation time of autonomous sensing vehicles

Life of this patent

Abstract

Claims21

System for balancing energy source exploration and observation time of autonomous sensing vehicles

Life of this patent

Abstract

Claims21