3.8 Proceedings Paper

Evolving Coverage Behaviours For MAVs Using NEAT

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ASSOC COMPUTING MACHINERY

Keywords

neuroevolution; NEAT; micro-aerial vehicles; dynamic coverage

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Dynamic coverage - the problem of covering an area evenly and continuously in order to visit all areas of interest - is an important procedure to optimise for any autonomous surveillance system. This work introduces a novel solution to the multi-agent version of this problem in that it achieves high performance in a completely decentralised manner with no reliance on GPS. It does so by using NEAT [12] to optimise agent neural controllers. The controllers are first realised via simulation and then transferred to Micro-Aerial Vehicles (MAVs). The MAVs are modified to include a Ultra-wideband Frequency (UWB) chip which use radio waves to communicate inter drone distances to one another.

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