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Optimal path planning and resource allocation for active target localization

Publication ,  Conference
Freundlich, C; Mordohai, P; Zavlanos, MM
Published in: Proceedings of the American Control Conference
July 28, 2015

This paper addresses optimal path planning and resource allocation for active multi-target localization. For each target, we solve a local Dynamic Program (DP) that plans optimal trajectories in the joint state-space of robot positions and target location uncertainties, captured by a cumulative error covariance matrix. The transitions in the space of robot positions are governed by the robot dynamics, while the transitions in the space of target uncertainties are regulated by a Kalman filter (KF) that fuses new information about the target locations with the current beliefs. The fused target uncertainties enter the objective function of the local DP using the trace of the associated covariance matrix. Using the optimal sensing policies local to each target, we construct a global DP to determine how far along the single target optimal trajectories the sensor should travel before transitioning to the next target. The integrated system jointly optimizes the collective target localization uncertainty and the total distance traveled by the sensing agent. The proposed control scheme is more computationally efficient than methods that use only the sensor configuration to compute future uncertainty and more exact than methods that abstract away the filtered sensing uncertainty.

Duke Scholars

Published In

Proceedings of the American Control Conference

DOI

ISSN

0743-1619

ISBN

9781479986842

Publication Date

July 28, 2015

Volume

2015-July

Start / End Page

3088 / 3093
 

Citation

APA
Chicago
ICMJE
MLA
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Freundlich, C., Mordohai, P., & Zavlanos, M. M. (2015). Optimal path planning and resource allocation for active target localization. In Proceedings of the American Control Conference (Vol. 2015-July, pp. 3088–3093). https://doi.org/10.1109/ACC.2015.7171807
Freundlich, C., P. Mordohai, and M. M. Zavlanos. “Optimal path planning and resource allocation for active target localization.” In Proceedings of the American Control Conference, 2015-July:3088–93, 2015. https://doi.org/10.1109/ACC.2015.7171807.
Freundlich C, Mordohai P, Zavlanos MM. Optimal path planning and resource allocation for active target localization. In: Proceedings of the American Control Conference. 2015. p. 3088–93.
Freundlich, C., et al. “Optimal path planning and resource allocation for active target localization.” Proceedings of the American Control Conference, vol. 2015-July, 2015, pp. 3088–93. Scopus, doi:10.1109/ACC.2015.7171807.
Freundlich C, Mordohai P, Zavlanos MM. Optimal path planning and resource allocation for active target localization. Proceedings of the American Control Conference. 2015. p. 3088–3093.

Published In

Proceedings of the American Control Conference

DOI

ISSN

0743-1619

ISBN

9781479986842

Publication Date

July 28, 2015

Volume

2015-July

Start / End Page

3088 / 3093