Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information
Benjamin Charrow, Vijay Kumar, Nathan Michael

Citation
Benjamin Charrow, Vijay Kumar, Nathan Michael. "Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information". Talk or presentation, 5, November, 2013; Poster presented at the 2013 TerraSwarm Annual Meeting. .

Abstract
We address the problem of controlling a small team of robots to estimate the location of mobile and static targets using non-linear range-only sensors. Our control law maximizes the mutual information between the team's estimate and future measurements over a finite time horizon. Because the computations associated with such policies scale poorly with the number of robots, the time horizon associated with the policy, and typical non-parametric representations of the belief, we design approximate representations that enable real-time operation. The main contributions of this work include the control policy, an algorithm for approximating the belief state, and an extensive study of the performance of these algorithms using simulations and real world experiments in complex, indoor environments.

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  • HTML
    Benjamin Charrow, Vijay Kumar, Nathan Michael. <a
    href="http://www.terraswarm.org/pubs/205.html"><i>Approximate
    Representations for Multi-Robot Control Policies that
    Maximize Mutual Information</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
    Benjamin Charrow, Vijay Kumar, Nathan Michael.
    "Approximate Representations for Multi-Robot Control
    Policies that Maximize Mutual Information". 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{CharrowKumarMichael13_ApproximateRepresentationsForMultiRobotControlPolicies,
        author = {Benjamin Charrow and Vijay Kumar and Nathan Michael},
        title = {Approximate Representations for Multi-Robot
                  Control Policies that Maximize Mutual Information},
        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 address the problem of controlling a small team
                  of robots to estimate the location of mobile and
                  static targets using non-linear range-only
                  sensors. Our control law maximizes the mutual
                  information between the team's estimate and future
                  measurements over a finite time horizon. Because
                  the computations associated with such policies
                  scale poorly with the number of robots, the time
                  horizon associated with the policy, and typical
                  non-parametric representations of the belief, we
                  design approximate representations that enable
                  real-time operation. The main contributions of
                  this work include the control policy, an algorithm
                  for approximating the belief state, and an
                  extensive study of the performance of these
                  algorithms using simulations and real world
                  experiments in complex, indoor environments. 	 },
        URL = {http://terraswarm.org/pubs/205.html}
    }
    

Posted by Benjamin Charrow on 13 Nov 2013.

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