NDLI: Optimal path planning and resource allocation for active target localization

Content Provider	IEEE Xplore Digital Library
Author	Freundlich, C. Mordohai, P. Zavlanos, M.M.
Copyright Year	2015
Description	Author affiliation: Dept. of Comput. Sci., Stevens Inst. of Technol., Hoboken, NJ, USA (Mordohai, P.) \|\| Dept. of Mech. Eng. & Mater. Sci., Duke Univ., Durham, NC, USA (Freundlich, C.; Zavlanos, M.M.)
Abstract	This paper addresses optimal path planning and resource allocation for active multi-target localization. For each target, we solve a local Dynamic Program (DP) that plans optimal trajectories in the joint state-space of robot positions and target location uncertainties, captured by a cumulative error covariance matrix. The transitions in the space of robot positions are governed by the robot dynamics, while the transitions in the space of target uncertainties are regulated by a Kalman filter (KF) that fuses new information about the target locations with the current beliefs. The fused target uncertainties enter the objective function of the local DP using the trace of the associated covariance matrix. Using the optimal sensing policies local to each target, we construct a global DP to determine how far along the single target optimal trajectories the sensor should travel before transitioning to the next target. The integrated system jointly optimizes the collective target localization uncertainty and the total distance traveled by the sensing agent. The proposed control scheme is more computationally efficient than methods that use only the sensor configuration to compute future uncertainty and more exact than methods that abstract away the filtered sensing uncertainty.
Starting Page	3088
Ending Page	3093
File Size	919463
Page Count	6
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7171807
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robot sensing systems Uncertainty Covariance matrices Silicon Eigenvalues and eigenfunctions
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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