强化学习
计算机科学
启发式
高斯分布
差异(会计)
高斯过程
人工智能
国家(计算机科学)
质量(理念)
机器学习
数据挖掘
数学优化
算法
数学
业务
哲学
会计
物理
认识论
量子力学
作者
Samuel Yanes Luis,Dmitriy Shutin,Juan Marchal Gómez,Daniel Gutiérrez Reina,S. L. Toral
标识
DOI:10.1002/aisy.202300850
摘要
The conservation of hydrological resources involves continuously monitoring their contamination. A multiagent system composed of autonomous surface vehicles is proposed herein to efficiently monitor the water quality. To achieve a safe control of the fleet, the fleet policy should be able to act based on measurements and fleet state. It is proposed to use local Gaussian processes and deep reinforcement learning to jointly obtain effective monitoring policies. Local Gaussian processes, unlike classical global Gaussian processes, can accurately model the information in a dissimilar spatial correlation which captures more accurately the water quality information. A deep convolutional policy is proposed, that bases the decisions on the observation on the mean and variance of this model, by means of an information gain reward. Using a double deep Q‐learning algorithm, agents are trained to minimize the estimation error in a safe manner thanks to a Consensus‐based heuristic. Simulation results indicate an improvement of up to 24% in terms of the mean absolute error with the proposed models. Also, training results with 1–3 agents indicate that our proposed approach returns 20% and 24% smaller average estimation errors for, respectively, monitoring water quality variables and monitoring algae blooms, as compared to state‐of‐the‐art approaches.
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