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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Citation formats

• 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}
  }
  

Posted by Barb Hoversten on 12 Jun 2014.
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