Correlated Orienteering Problem and its application to informative path planning for persistent monitoring tasks
Name
1402.1896.pdf
Description
Accepted version
Size
1.01 MB
Format
Adobe PDF
Checksum (MD5)
061199212e242278a8c1fc4651c8cc37
Author(s)
Yu, Jingjin
Schwager, Mac
Rus, Daniela
Date Issued
September 2014
Publisher
IEEE
Citation
Yu, Jingjin, Schwager, Mac and Rus, Daniela. 2014. "Correlated Orienteering Problem and its application to informative path planning for persistent monitoring tasks."
Version
Author's final manuscript
Abstract
© 2014 IEEE. We propose a novel non-linear extension to the Orienteering Problem (OP), called the Correlated Orienteering Problem (COP). We use COP to plan informative tours (cyclic paths) for persistent monitoring of an environment with spatial correlations, where the tours are constrained to a fixed length or time budget. The main feature of COP is a quadratic utility function that captures spatial correlations among points of interest that are close to each other. COP may be solved using mixed integer quadratic programming (MIQP) that can plan multiple disjoint tours that maximize the quadratic utility function. We perform extensive characterization of our method to verify its correctness, as well as its applicability to the estimation of a realistic, time-varying, and spatially correlated scalar field.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros.2014.6942582
