Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM
Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George Pappas

Citation
Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George Pappas. "Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM". IEEE International Conference on Robotics and Automation (ICRA), 26, May, 2015; Submitted.

Abstract
This paper addresses the problem of controlling mobile sensing systems in order to improve the accuracy and efficiency of information acquisition. It applies to scenarios such as environmental monitoring, search and rescue, surveillance and reconnaissance, and simultaneous localization and mapping (SLAM). A multi-sensor active information acquisition problem capturing the common characteristics of these scenarios is formulated. The goal is to design control policies for the sensors, which minimize the entropy of the estimation task conditioned on the future measurements. First, we provide a non-greedy centralized solution, which is computationally fast, as it exploits linearized sensing models, and memory efficient, as it exploits sparsity in the environment model. Next, we decentralize the control to obtain linear complexity in the number of sensors and provide suboptimality guarantees. When applied to the multi-robot active SLAM problem, our results enable a decentralized nonmyopic solution that exploits sparsity in the planning process.

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Citation formats

• HTML

  Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George
  Pappas. <a
  href="http://www.terraswarm.org/pubs/383.html"
  >Decentralized Active Information Acquisition: Theory and
  Application to Multi-Robot SLAM</a>, IEEE
  International Conference on Robotics and Automation (ICRA),
  26, May, 2015; Submitted.

• Plain text

  Nikolay A. Atanasov, Jerome Le Ny, Kostas Daniilidis, George
  Pappas. "Decentralized Active Information Acquisition:
  Theory and Application to Multi-Robot SLAM". IEEE
  International Conference on Robotics and Automation (ICRA),
  26, May, 2015; Submitted.

• BibTeX

  @inproceedings{AtanasovLeNyDaniilidisPappas15_DecentralizedActiveInformationAcquisitionTheoryApplication,
      author = {Nikolay A. Atanasov and Jerome Le Ny and Kostas
                Daniilidis and George Pappas},
      title = {Decentralized Active Information Acquisition:
                Theory and Application to Multi-Robot SLAM},
      booktitle = {IEEE International Conference on Robotics and
                Automation (ICRA)},
      day = {26},
      month = {May},
      year = {2015},
      note = {Submitted},
      abstract = {This paper addresses the problem of controlling
                mobile sensing systems in order to improve the
                accuracy and efficiency of information
                acquisition. It applies to scenarios such as
                environmental monitoring, search and rescue,
                surveillance and reconnaissance, and simultaneous
                localization and mapping (SLAM). A multi-sensor
                active information acquisition problem capturing
                the common characteristics of these scenarios is
                formulated. The goal is to design control policies
                for the sensors, which minimize the entropy of the
                estimation task conditioned on the future
                measurements. First, we provide a non-greedy
                centralized solution, which is computationally
                fast, as it exploits linearized sensing models,
                and memory efficient, as it exploits sparsity in
                the environment model. Next, we decentralize the
                control to obtain linear complexity in the number
                of sensors and provide suboptimality guarantees.
                When applied to the multi-robot active SLAM
                problem, our results enable a decentralized
                nonmyopic solution that exploits sparsity in the
                planning process.},
      URL = {http://terraswarm.org/pubs/383.html}
  }
  

Posted by Nikolay A. Atanasov on 1 Oct 2014.
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