On the roles of smoothing in planning of informative paths
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How_On the.pdf
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Author(s)
Choi, Han-Lim
How, Jonathan P.
Date Issued
July 2009
Journal
Proceedings of the American Control Conference, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Han-Lim Choi, and J.P. How. “On the roles of smoothing in planning of informative paths.” American Control Conference, 2009. ACC '09. 2009. 2154-2159. © Copyright 2009 IEEE
Version
Final published version
Abstract
This paper investigates the roles of smoothing in planning of information-gathering paths for mobile sensors, when the goal is to minimize the entropy of some variables of interest at the final time of generated plan. The main result is that smoothing simplifies the process of calculating the information gathered up to some arbitrary time on the fly. This enables quantification of the correct cost-to-go value when applied to a receding-horizon approximation of the optimal path planning problem. Numerical examples on simplified weather forecasting, sensor scheduling, and target localization validate the theoretical findings.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ACC.2009.5160721
