Abstract
AbstractControl of a spatiotemporal field with mobile agents has received considerable recent interest. A key problem in this area is the tendency of agents to become static once a local control objective is met. To overcome this issue, we propose a novel approach inspired by classic control theory, cautious control, that augments the control cost with field uncertainty. This provokes the agents into exploring the field by being attracted to regions of high uncertainty, in addition to satisfying the control objective. A top-down approach is employed to reduce the potentially complex, abstract problem into an N-step ahead decision making problem, which is easy to implement and shown to give improved results when compared to both static agents and agents which do not take into account field uncertainty. The ensuing intuitive conclusion is that, when faced with the problem of spatiotemporal control with mobile agents, it is largely advantageous to include field uncertainty in the trajectory planning control objective.
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