On the roles of smoothing in planning of informative paths
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 inform...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/58892 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826217573574770688 |
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| author | Choi, Han-Lim How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Choi, Han-Lim How, Jonathan P. |
| author_sort | Choi, Han-Lim |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T17:05:49Z |
| format | Article |
| id | mit-1721.1/58892 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T17:05:49Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/588922022-09-29T23:38:19Z On the roles of smoothing in planning of informative paths Choi, Han-Lim How, Jonathan P. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. Choi, Han-Lim How, Jonathan P. 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. National Science Foundation (U.S.) (CNS-0540331 DDDAS program) 2010-10-06T14:36:15Z 2010-10-06T14:36:15Z 2009-07 2009-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-4523-3 0743-1619 INSPEC Accession Number: 10776097 http://hdl.handle.net/1721.1/58892 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 https://orcid.org/0000-0001-8576-1930 en_US http://dx.doi.org/10.1109/ACC.2009.5160721 Proceedings of the American Control Conference, 2009 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. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Choi, Han-Lim How, Jonathan P. On the roles of smoothing in planning of informative paths |
| title | On the roles of smoothing in planning of informative paths |
| title_full | On the roles of smoothing in planning of informative paths |
| title_fullStr | On the roles of smoothing in planning of informative paths |
| title_full_unstemmed | On the roles of smoothing in planning of informative paths |
| title_short | On the roles of smoothing in planning of informative paths |
| title_sort | on the roles of smoothing in planning of informative paths |
| url | http://hdl.handle.net/1721.1/58892 https://orcid.org/0000-0001-8576-1930 |
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