- Link:
- http://hdl.handle.net/1721.1/52571
- Collection:
-
- Subjects
- sensor networks mutual information trajectory planning mobile robots
- Creators:
- How, Jonathan P. Choi, Han-Lim
- Contributors:
- Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics How, Jonathan P. Choi, Han-Lim
- Language
- en_US
- Rights
- Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
- Source
- author/dept web page
- Type
- Article
- Type
- http://purl.org/eprint/type/SubmittedJournalArticle
- Description
- This paper addresses planning of continuous paths
for mobile sensors to reduce uncertainty in some quantities of
interest in the future. The mutual information between the
continuous measurement path and the future verification variables
defines the information reward. Two expressions for computing this
mutual information are presented: the filter form extended from the
state-of-the-art and the smoother form inspired by the conditional
independence structure. The key properties of the approach using
the filter and smoother strategies are presented and compared. The
smoother form is shown to be preferable because it provides better
computational efficiency, facilitates easy integration with
existing path synthesis tools, and most importantly, enables
correct quantification of the rate of information accumulation. A
spatial interpolation technique is used to relate the motion of the
sensor to the evolution of the measurement matrix, which leads to
the formulation of the optimal path planning problem. A
gradient-ascent steering law based on the concept of information
potential field is also presented as a computationally efficient
suboptimal strategy. A simplified weather forecasting example is
used to compare several planning methodologies and to illustrate
the potential performance benefits of using the proposed planning
approach.
- Description
- National Science Foundation
(CNS-0540331)
- Relation
- http://dx.doi.org/10.1016/j.automatica.2010.05.004
- Rights
- Article is made available in accordance with the
publisher's policy and may be subject to US copyright law. Please
refer to the publisher's site for terms of use.
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