Active control strategies for discovering and localizing devices with range-only sensors
Benjamin Charrow, Nathan Michael, Vijay Kumar

Citation
Benjamin Charrow, Nathan Michael, Vijay Kumar. "Active control strategies for discovering and localizing devices with range-only sensors". Workshop on the Algorithmic Foundation of Robotics, 3, August, 2014.

Abstract
This paper addresses the problem of actively controlling robotic teams with range-only sensors to a) discover and b) localize an unknown number of devices. We develop separate information based objectives to achieve both goals, and examine ways of combining them into a unified approach. Despite the computational complexity of calculating these policies for multiple robots over long time horizons, a series of approximations enable all calculations to be performed in polynomial time. We demonstrate the tangible bene fits of our approaches through a series of simulations in complex indoor environments.

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  • HTML
    Benjamin Charrow, Nathan Michael, Vijay Kumar. <a
    href="http://www.terraswarm.org/pubs/323.html"
    >Active control strategies for discovering and localizing
    devices with range-only sensors</a>, Workshop on the
    Algorithmic Foundation of Robotics, 3, August, 2014.
  • Plain text
    Benjamin Charrow, Nathan Michael, Vijay Kumar. "Active
    control strategies for discovering and localizing devices
    with range-only sensors". Workshop on the Algorithmic
    Foundation of Robotics, 3, August, 2014.
  • BibTeX
    @inproceedings{CharrowMichaelKumar14_ActiveControlStrategiesForDiscoveringLocalizingDevices,
        author = {Benjamin Charrow and Nathan Michael and Vijay Kumar},
        title = {Active control strategies for discovering and
                  localizing devices with range-only sensors},
        booktitle = {Workshop on the Algorithmic Foundation of Robotics},
        day = {3},
        month = {August},
        year = {2014},
        abstract = {This paper addresses the problem of actively
                  controlling robotic teams with range-only sensors
                  to a) discover and b) localize an unknown number
                  of devices. We develop separate information based
                  objectives to achieve both goals, and examine ways
                  of combining them into a unified approach. Despite
                  the computational complexity of calculating these
                  policies for multiple robots over long time
                  horizons, a series of approximations enable all
                  calculations to be performed in polynomial time.
                  We demonstrate the tangible benefits of our
                  approaches through a series of simulations in
                  complex indoor environments.},
        URL = {http://terraswarm.org/pubs/323.html}
    }
    

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