title: Ð Ð¾ÐµÐ²Ð¾Ð¹ Ð¿Ð¾Ð¸ÑÐº Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² Ð¿ÑÐ¸Ð±ÑÐµÐ¶Ð½Ð¾Ð¹ Ð·Ð¾Ð½Ðµ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Swarm search for dynamic objects in the coastal area
Creators: name: ÐÐ¾Ð³Ð´Ð°Ð½Ð¾Ð², Ð®Ð»Ð¸Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ Ñ Ð¿Ð¾Ð´ÐºÑÐµÐ¿Ð»ÐµÐ½Ð¸ÐµÐ¼
PPO
Ð¿Ð¾Ð¸ÑÐºÐ¾Ð²Ð°Ñ Ð·Ð°Ð´Ð°ÑÐ°
Ð³ÑÑÐ¿Ð¿Ð¾Ð²Ð¾Ð¹ Ð¿Ð¾Ð¸ÑÐº
ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÐ¼ÑÐµ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐµ ÐºÐ°ÑÐµÑÐ°
reinforcement learning
search task
group search
controlled unmanned boats

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð Ð¾ÐµÐ²Ð¾Ð¹ Ð¿Ð¾Ð¸ÑÐº Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ð² Ð¿ÑÐ¸Ð±ÑÐµÐ¶Ð½Ð¾Ð¹ Ð·Ð¾Ð½ÐµÂ». Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð½Ð°ÑÑÐ½ÑÐµ ÑÐ°Ð±Ð¾ÑÑ, Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð½ÑÐµ Ð·Ð°Ð´Ð°ÑÐ°Ð¼ Ð¿ÑÐµÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð¿ÑÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ð¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÐ¼ÑÑ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ¾Ð². Ð ÑÐ°Ð±Ð¾ÑÐµ Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ñ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ Ð¿Ð¾Ð½ÑÑÐ¸Ñ Ð¸ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ñ Ð¿Ð¾Ð´ÐºÑÐµÐ¿Ð»ÐµÐ½Ð¸ÐµÐ¼, Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¾ÑÐ½Ð¾Ð²Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð³ÑÐ°Ð´Ð¸ÐµÐ½ÑÐ° ÑÑÑÐ°ÑÐµÐ³Ð¸Ð¸. Ð ÑÐ°Ð±Ð¾ÑÐµ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð½Ð° Ð±Ð°Ð·Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾ ÑÑÑÐµÑÑÐ²ÑÑÑÐµÐ³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÐ¼Ð¾Ð³Ð¾ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ´Ð½Ð°, ÐºÐ¾ÑÐ¾ÑÐ¾Ðµ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÑÑÑ Ð² Ð¿ÑÐ¾ÑÐµÑÑÐµ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ð² ÑÐ¸ÑÐ»ÐµÐ½Ð½ÑÑ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸ÑÑ. ÐÐ»Ñ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð±ÑÐ»Ð¸ Ð¿Ð¾Ð´Ð³Ð¾ÑÐ¾Ð²Ð»ÐµÐ½Ñ ÑÑÐµÐ´Ð° Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ð¸ Ð¾Ð±ÑÑÐ°ÑÑÐ¸Ð¹ÑÑ Ð°Ð³ÐµÐ½Ñ. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ð°Ð³ÐµÐ½ÑÐ¾Ð²: Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ ÑÑÐ°Ð½Ð´Ð°ÑÑÐ½Ð¾Ð³Ð¾ Ð¿ÑÐ¸Ð¼ÐµÑÐ°, Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸ Ð² Ð¿ÑÐ¾ÑÑÐ¾Ð¹ Ð¿Ð¾ÑÑÐ°Ð½Ð¾Ð²ÐºÐµ Ð¸ Ð² Ð±Ð¾Ð»ÐµÐµ ÑÐ»Ð¾Ð¶Ð½Ð¾Ð¹. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ. ÐÑÐ»Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ñ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ° Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ learning_rate Ð½Ð° ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¾Ð±ÑÑÐµÐ½Ð¸Ñ.
description: The topic of the current graduate qualification work is "Swarm search for dynamic objects in the coastal area" In this thesis, scientific papers dedicated to the tasks of pursuing and monitoring the area using various controlled unmanned vehicles were considered. The paper presents the basic concepts and principles of reinforcement learning as well as the mathematical foundations of the strategy gradient methods. During the research, a mechanical model based on a real-life controlled unmanned vessel, which is used in the training process in numerical simulations, was developed. To train the model, a learning environment and a learning agent were prepared. In the course of work, agents were trained, including training with a standard example, training with a task in a simple formulation and in a more complex one. Subsequently, the learning outcomes were analyzed and the effects of changing the learning parameter Â«learning_rateÂ» on learning outcomes were investigated.