Efficient Information Acquisition with Mobile Sensors
Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George Pappas

Citation
Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George Pappas. "Efficient Information Acquisition with Mobile Sensors". Talk or presentation, 5, November, 2013; Poster presented at the 2013 TerraSwarm Annual Meeting.

Abstract
We consider the problem of controlling a team of mobile sensing systems to efficiently observe an evolving phenomenon of interest. Our formulation captures the main characteristics of many important active information acquisition tasks such as environmental monitoring, surveillance and reconnaissance, search and rescue, target tracking, active perception and active SLAM. We show that under linear Gaussian assumptions, the problem reduces to deterministic optimal control and can be solved off-line. Previous work ignores the sensor dynamics and selects sensing locations greedily based on submodularity. In contrast, we develop a non-greedy approach with suboptimality guarantees, which takes the sensor dynamics into account and does not rely on submodularity. Our algorithm performs provably better than the widely used greedy one. Coupled with linearization and model predictive control, it can be used to generate adaptive policies for mobile sensors with non-linear sensing models. Applications in gas concentration mapping and target tracking are presented. Future work will focus on a distributed method for the multi-sensor, multi-target active information acquisition. In detail, we would like to address cooperative control, distributed target estimation, and noisy self-localization.

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  • HTML
    Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George
    Pappas. <a
    href="http://www.terraswarm.org/pubs/155.html"><i>Efficient
    Information Acquisition with Mobile
    Sensors</i></a>, Talk or presentation,  5,
    November, 2013; Poster presented at the <a
    href="http://www.terraswarm.org/conferences/13/annual"
    >2013 TerraSwarm Annual Meeting</a>.
  • Plain text
    Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George
    Pappas. "Efficient Information Acquisition with Mobile
    Sensors". Talk or presentation,  5, November, 2013;
    Poster presented at the <a
    href="http://www.terraswarm.org/conferences/13/annual"
    >2013 TerraSwarm Annual Meeting</a>.
  • BibTeX
    @presentation{AtanasovLeNyDaniilidisPappas13_EfficientInformationAcquisitionWithMobileSensors,
        author = {Nikolay A. Atanasov and Jerome Le Ny and Kostas
                  Daniilidis and George Pappas},
        title = {Efficient Information Acquisition with Mobile
                  Sensors},
        day = {5},
        month = {November},
        year = {2013},
        note = {Poster presented at the <a
                  href="http://www.terraswarm.org/conferences/13/annual"
                  >2013 TerraSwarm Annual Meeting</a>.},
        abstract = {We consider the problem of controlling a team of
                  mobile sensing systems to efficiently observe an
                  evolving phenomenon of interest. Our formulation
                  captures the main characteristics of many
                  important active information acquisition tasks
                  such as environmental monitoring, surveillance and
                  reconnaissance, search and rescue, target
                  tracking, active perception and active SLAM. We
                  show that under linear Gaussian assumptions, the
                  problem reduces to deterministic optimal control
                  and can be solved off-line. Previous work ignores
                  the sensor dynamics and selects sensing locations
                  greedily based on submodularity. In contrast, we
                  develop a non-greedy approach with suboptimality
                  guarantees, which takes the sensor dynamics into
                  account and does not rely on submodularity. Our
                  algorithm performs provably better than the widely
                  used greedy one. Coupled with linearization and
                  model predictive control, it can be used to
                  generate adaptive policies for mobile sensors with
                  non-linear sensing models. Applications in gas
                  concentration mapping and target tracking are
                  presented. Future work will focus on a distributed
                  method for the multi-sensor, multi-target active
                  information acquisition. In detail, we would like
                  to address cooperative control, distributed target
                  estimation, and noisy self-localization.},
        URL = {http://terraswarm.org/pubs/155.html}
    }
    

Posted by Nikolay A. Atanasov on 31 Oct 2013.

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