Multi-agents Decision Making Concept for Multi-missions Applications in Marine Environments

This paper presents unique multi-agents decision making and control concept in marine environments, formulating distributed and centralized approach. We map several major missions and introduce the conceptual implementations using multi-agents: patrolling in predefined area, reaching specific destination, following or monitoring specific object and getting back to home harbor. We present our algorithm scheme with logical concept of each module and simulate agent’s sensing capability. We demonstrate our concept in several scenarios simulations with advanced test-bed environment. Algorithm performances are also analyzed showing real-time running time.