dc.contributor.author | Imsland, Lars Struen | |
dc.date.accessioned | 2018-03-09T08:35:20Z | |
dc.date.available | 2018-03-09T08:35:20Z | |
dc.date.created | 2018-01-14T10:01:21Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-1-5090-2872-6 | |
dc.identifier.uri | http://hdl.handle.net/11250/2489654 | |
dc.description.abstract | Mobile sensor platforms may provide low-cost, versatile means for obtaining high resolution information from spatially distributed processes. The aim of this paper is to efficiently calculate receding horizon-type motion plans that optimize information retrival by mobile sensors from distributed processes. Formulating the problem in a rather general framework as minimization of entropy, gives a huge, non-convex, in general intractable optimization problem for path planning. Based on this formulation, using approximation and decomposition strategies, we propose a new, more computationally tractable framework. In the case of multiple mobile sensors, the framework allows a partially distributed setup where each mobile sensor optimize its path using an economic-type Model Predictive Controller, where the “economic” (in the sense of information) objective is constructed based on simulation of covariances for the distributed process, performed by a central entity. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | Proceedings of the 56th Conference on Decision and Control | |
dc.title | Partially distributed optimization for mobile sensor path-planning | nb_NO |
dc.type | Chapter | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.identifier.doi | 10.1109/CDC.2017.8264112 | |
dc.identifier.cristin | 1542145 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |