Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms
This paper introduces a novel stratified planning algorithm for teams of heterogeneous mobile sensors that maximizes information collection while minimizing resource costs. The main contribution of this work is the scalable unification of effective algorithms for de- centralized informative motion p...
| Main Authors: | , , , |
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| Format: | Article |
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American Institute of Aeronautics and Astronautics (AIAA)
2018
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| Online Access: | http://hdl.handle.net/1721.1/114756 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826201862219497472 |
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| author | Luders, Brandon Douglas Levine, Daniel S Ponda, Sameera S How, Jonathan P |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Luders, Brandon Douglas Levine, Daniel S Ponda, Sameera S How, Jonathan P |
| author_sort | Luders, Brandon Douglas |
| collection | MIT |
| description | This paper introduces a novel stratified planning algorithm for teams of heterogeneous mobile sensors that maximizes information collection while minimizing resource costs. The main contribution of this work is the scalable unification of effective algorithms for de- centralized informative motion planning and decentralized high-level task allocation. We present the Information-rich Rapidly-exploring Random Tree (IRRT) algorithm, which is amenable to very general and realistic mobile sensor constraint characterizations, as well as review the Consensus-Based Bundle Algorithm (CBBA), offering several enhancements to the existing algorithms to embed information collection at each phase of the planning process. The proposed framework is validated with simulation results for networks of mobile sensors performing multi-target localization missions. |
| first_indexed | 2024-09-23T11:58:22Z |
| format | Article |
| id | mit-1721.1/114756 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:58:22Z |
| publishDate | 2018 |
| publisher | American Institute of Aeronautics and Astronautics (AIAA) |
| record_format | dspace |
| spelling | mit-1721.1/1147562022-10-01T07:22:03Z Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms Luders, Brandon Douglas Levine, Daniel S Ponda, Sameera S How, Jonathan P Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Luders, Brandon Douglas Levine, Daniel S Ponda, Sameera S How, Jonathan P This paper introduces a novel stratified planning algorithm for teams of heterogeneous mobile sensors that maximizes information collection while minimizing resource costs. The main contribution of this work is the scalable unification of effective algorithms for de- centralized informative motion planning and decentralized high-level task allocation. We present the Information-rich Rapidly-exploring Random Tree (IRRT) algorithm, which is amenable to very general and realistic mobile sensor constraint characterizations, as well as review the Consensus-Based Bundle Algorithm (CBBA), offering several enhancements to the existing algorithms to embed information collection at each phase of the planning process. The proposed framework is validated with simulation results for networks of mobile sensors performing multi-target localization missions. United States. Air Force. Office of Scientific Research (Grant FA9550-08-1-0086) United States. Air Force. Office of Scientific Research. Multidisciplinary University Research Initiative (FA9550-08-1-0356) 2018-04-17T15:26:30Z 2018-04-17T15:26:30Z 2011-03 2018-03-22T13:27:01Z Article http://purl.org/eprint/type/ConferencePaper 978-1-60086-944-0 http://hdl.handle.net/1721.1/114756 Luders, Brandon, et al. "Information-Rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms." INFOTECH@AEROSPACE 2011, 29-31 March, 2011, St. Louis, Missouri, American Institute of Aeronautics and Astronautics, 2011. © 2011 by John P. How https://orcid.org/0000-0001-8576-1930 http://dx.doi.org/10.2514/6.2011-1588 Infotech@Aerospace 2011 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf American Institute of Aeronautics and Astronautics (AIAA) MIT Web Domain |
| spellingShingle | Luders, Brandon Douglas Levine, Daniel S Ponda, Sameera S How, Jonathan P Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title | Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title_full | Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title_fullStr | Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title_full_unstemmed | Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title_short | Information-rich Task Allocation and Motion Planning for Heterogeneous Sensor Platforms |
| title_sort | information rich task allocation and motion planning for heterogeneous sensor platforms |
| url | http://hdl.handle.net/1721.1/114756 https://orcid.org/0000-0001-8576-1930 |
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