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.

Electronic downloads

• Atanasov_Poster_TerraSwarm_Task_D.3.3_Nov13.pdf · application/pdf · 868 kbytes. (Poster presented at the 2013 TerraSwarm Annual Meeting.)

• 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.