Dual Kalman--Bucy Filters and Interactive Entropy Production
SIAM Journal on Control and Optimization
Continuous trajectory planning of mobile sensors for informative forecasting
Automatica (Journal of IFAC)
Approximate Dynamic Programming for Communication-Constrained Sensor Network Management
IEEE Transactions on Signal Processing
Optimal sensor placement and motion coordination for target tracking
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Continuous trajectory planning of mobile sensors for informative forecasting
Automatica (Journal of IFAC)
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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.