Related papers: Observer Path Planning for Maximum Information
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
We present an instance of the optimal sensor scheduling problem with the additional relaxation that our observer makes active choices whether or not to observe and how to observe. We mask the nodes in a directed acyclic graph of the model…
An informative measurement is the most efficient way to gain information about an unknown state. We present a first-principles derivation of a general-purpose dynamic programming algorithm that returns an optimal sequence of informative…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
We have developed an efficient information-maximization method for computing the optimal shapes of tuning curves of sensory neurons by optimizing the parameters of the underlying feedforward network model. When applied to the problem of…
The estimation of continuous parameters from measured data plays a central role in many fields of physics. A key tool in understanding and improving such estimation processes is the concept of Fisher information, which quantifies how…
An observer is an estimator of the state of a dynamical system from noisy sensor measurements. The need for observers is ubiquitous, with applications in fields ranging from engineering to biology to economics. The most widely used observer…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Informative path planning is an important and challenging problem in robotics that remains to be solved in a manner that allows for wide-spread implementation and real-world practical adoption. Among various reasons for this, one is the…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
The focus of this research is sensor applications including radar and sonar. Optimal sensing means achieving the best signal quality with the least time and energy cost, which allows processing more data. This paper presents novel work by…
We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…
The optimal cooperative guidance in the nonlinear setting for intercepting a target by multiple pursuers is studied in the paper. As certain relative angles can improve observability, the guidance command is required to cooperatively…
Maximizing the precision in estimating parameters in a quantum system subject to instrumentation constraints is cast as a convex optimization problem. We account for prior knowledge about the parameter range by developing a worst-case and…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
This paper is based on a crucial issue in the aviation world: how to optimize the trajectory and controls given to the aircraft in order to optimize flight time and fuel consumption. This study aims to provide elements of a response to this…
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…
In many real world problems, optimization decisions have to be made with limited information. The decision maker may have no a priori or posteriori data about the often nonconvex objective function except from on a limited number of points…