Efficient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle
Name
icra10-rh[1].pdf
Description
Main article
Size
824.04 KB
Format
Adobe PDF
Checksum (MD5)
3193ac8a5dc21a7e26b6225b71e060fe
Author(s)
He, Ruijie
Bachrach, Abraham Galton
Roy, Nicholas
Date Issued
July 2010
Journal
Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ruijie He, A. Bachrach, and N. Roy. “Efficient planning under uncertainty for a target-tracking micro-aerial vehicle.” Robotics and Automation (ICRA), 2010 IEEE International Conference on. 2010. 1-8.
Version
Author's final manuscript
Abstract
A helicopter agent has to plan trajectories to track multiple ground targets from the air. The agent has partial information of each target's pose, and must reason about its uncertainty of the targets' poses when planning subsequent actions. We present an online, forward-search algorithm for planning under uncertainty by representing the agent's belief of each target's pose as a multi-modal Gaussian belief. We exploit this parametric belief representation to directly compute the distribution of posterior beliefs after actions are taken. This analytic computation not only enables us to plan in problems with continuous observation spaces, but also allows the agent to search deeper by considering policies composed of multi-step action sequences; deeper searches better enable the agent to keep the targets well-localized. We present experimental results in simulation, as well as demonstrate the algorithm on an actual quadrotor helicopter tracking multiple vehicles on a road network constructed indoors.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Attribution-Noncommercial-Share Alike 3.0 Unported
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509548
