Name
Title | ||
|---|---|---|
A Communication-Aware Mutual Information Measure for Distributed Autonomous Robotic Information Gathering |
Abstract | ||
|---|---|---|
This letter investigates the computation of information measures for distributed communication-aware information gathering by robotic sensor networks. The mutual information between an unknown target state and measurements received over a lossy network is derived in order to combine sensing and communication into a single objective function that can be optimized by the robot sensor network. Communication is modeled as a packet erasure channel, leading to a formulation of the mutual information that scales exponentially in the number of agents and time horizon. Several approximations to reduce this computational complexity are introduced and evaluated. Further, sample-based methods are introduced in order to derive approximate solutions of the mutual information when the system is nonlinear and uncertainties have non-Gaussian distributions. Finally, the information measure is evaluated through simulation experiments of multiple aerial robots tracking stationary radio emitters. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2924850 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Multi-robot systems,distributed robot systems,networked robots | Time horizon,Lossy compression,Packet erasure channel,Control engineering,Real-time computing,Mutual information,Engineering,Robot,Wireless sensor network,Computation,Computational complexity theory | Journal |
Volume | Issue | ISSN |
4 | 4 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sang-Woo Moon | 1 | 130 | 9.69 |
| Eric W. Frew | 2 | 182 | 26.73 |