Detection of Static and Mobile Targets by an Autonomous Agent with Deep Q-Learning Abilities

• Published in: Entropy (Basel, Switzerland) Vol. 24; no. 8; p. 1168
• Main Authors: Matzliach, Barouch, Ben-Gal, Irad, Kagan, Evgeny
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01-08-2022; MDPI
• Subjects: Agents (artificial intelligence); Algorithms; autonomous agent; Decision making; Deep learning; deep Q-learning; False alarms; Heuristic; Machine learning; neural network; Neural networks; probabilistic decision-making; Probability; Random variables; search and detection; Sensors; Target detection; Trajectory planning
• ISSN: 1099-4300; 1099-4300
• DOI: 10.3390/e24081168

This paper addresses the problem of detecting multiple static and mobile targets by an autonomous mobile agent acting under uncertainty. It is assumed that the agent is able to detect targets at different distances and that the detection includes errors of the first and second types. The goal of the agent is to plan and follow a trajectory that results in the detection of the targets in a minimal time. The suggested solution implements the approach of deep Q-learning applied to maximize the cumulative information gain regarding the targets’ locations and minimize the trajectory length on the map with a predefined detection probability. The Q-learning process is based on a neural network that receives the agent location and current probability map and results in the preferred move of the agent. The presented procedure is compared with the previously developed techniques of sequential decision making, and it is demonstrated that the suggested novel algorithm strongly outperforms the existing methods.