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Online information gathering using sampling-based planners and GPs: An information theoretic approach
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Specifically, our approach includes two intertwined steps: a Gaussian processes (GPs)-based prediction that allows a robot to identify highly unexplored locations, and an RRT*based informative path planning ...
Moreover, most algorithms are not suited for online information gathering tasks. This paper presents a novel approach that tackles the two aforementioned issues. ...
Here we make use of GPs for this purpose [8] .
III. EFFICIENT INFORMATION GATHERING USING SAMPLING-BASED PLANNERS AND GPS This section presents our proposed algorithm for information gathering. ...
doi:10.1109/iros.2017.8202147
dblp:conf/iros/RuizSM17
fatcat:cyqfi6te4fcblfi26uhqxug3ay
GeoTravel: Harvesting Ambient Geographic Footprints from GPS Trajectories
[article]
2014
arXiv
pre-print
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User can get information from GPS enable device. ...
By present the point of interest, user can choose travel place easily and the travel itineraries is plan based on the user preferences. ...
In the online stage, we design an approximated algorithm. In the online stage, we design an approximate algorithm to generate the optimal itineraries. ...
arXiv:1411.2195v1
fatcat:47656apkq5d73gceyimwksr5vu
Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments
2014
Sensors
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estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. ...
The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete ...
In order to incorporate the uncertainty of the laser rangefinder for the covariance propagation in the CL-RBT planner, we used an information matrix-based method [6] to determine the uncertainty of the ...
doi:10.3390/s141121791
pmid:25412217
pmcid:PMC4279562
fatcat:d3a5c4kgtfealgh7rgdrou24na
From GPS traces to a routable road map
2009
Proceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems - GIS '09
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We demonstrate our algorithms using real GPS data collected on public roads, and we evaluate the effectiveness of our approach by comparing the route planning results suggested by our generated graph to ...
The method begins by smoothing raw GPS traces using a novel aggregation technique. ...
[5] , and Worral and Nebot [9] who, like us, start with raw GPS traces and create road maps. ...
doi:10.1145/1653771.1653776
dblp:conf/gis/CaoK09
fatcat:ttabzxatybbodjncjwx66ua3vi
Analysis of human mobility patterns from GPS trajectories and contextual information
2015
International Journal of Geographical Information Science
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In this paper we attempt to widen this view and present an integrated approach to the analysis of human mobility using a combination of volunteered GPS trajectories and contextual spatial information. ...
We evaluate our framework using a collection of trajectories from 205 volunteers linked to contextual spatial information on the types of places visited and the transport routes they use. ...
In this paper we approach this problem through an integrated analysis of human movement from GPS trajectories linked to contextual information. ...
doi:10.1080/13658816.2015.1100731
fatcat:stv2r4ve65b7hi53wkhc6hkopq
Online Informative Path Planning for Active Information Gathering of a 3D Surface
[article]
2021
arXiv
pre-print
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This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. ...
Our approach actively plans information-gathering paths based on recent observations that respect dynamic constraints of the vehicle and a total flight time budget. ...
The main contributions of this work are: • An online informative path planning approach for active information gathering on three-dimensional surfaces. • The use of manifold Gaussian processes with geodesic ...
arXiv:2103.09556v1
fatcat:obaoknvp3nh6hbmmb4fbkbzccm
Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments
2019
IEEE Robotics and Automation Letters
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2019 pre-print arXiv:1909.12216v1 fatcat:qczrzao63bcvzfaxzhyahycmyu
To solve the MSS POMDP, PLUMES uses an information-theoretic reward heuristic with continous-observation Monte Carlo Tree Search to efficiently localize and sample from the global maximum. ...
We present PLUMES, a planner to localizing and collecting samples at the global maximum of an a priori unknown and partially observable continuous environment. ...
Additionally, we thank the SLI group, RRG and WARPlab for their insight and support. This project was supported by an NSF-GRFP award (G.F.), NDSEG Fellowship award (V.P.), and NSF NRI Award 1734400. ...
doi:10.1109/lra.2019.2929997
fatcat:phbfeq6rmvejvim2vzqx2v3dfa
Does new bicycle infrastructure result in new or rerouted bicyclists? A longitudinal GPS study in Oslo
2019
Journal of Transport Geography
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Background This paper's study design makes use of GPS for data collection, a https://doi. ...
Video and radarbased traffic counting are used as supplementary methods to affirm bicycle volume changes in the broader population. ...
commercial entities that might have an interest in the submitted work. (3) Apart from assistance in case selection received by the City of Oslo, none of the funding organisations listed above has been ...
doi:10.1016/j.jtrangeo.2019.05.005
fatcat:3s3rmtng3ba4xka2yqec3e4yy4
Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring
[article]
2017
arXiv
pre-print
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We prove an information-theoretic convergence for an entire exploration and information gathering mission based on the least upper bound of the average map entropy. ...
Our approach is built on rapidly-exploring information gathering algorithms and benefits from advantages of sampling-based optimal motion planning algorithms. ...
(iv) The GPVR-based algorithms could be used for active learning to model the quantity of interest online using GPs. ...
arXiv:1607.01883v5
fatcat:hebhn2o3tbfotcwer2ainyu4sq
Information-Driven Path Planning
2021
Current Robotics Reports
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learning can be used to improve the robustness and efficiency of informative path planning in robotics. ...
Therefore, paths need to be planned to maximize the information gathered about an unknown environment while satisfying the given budget constraint, which is known as the informative planning problem. ...
Such information-driven path planning has been extensively investigated by integrating with information theoretic and decision theoretic paradigms as well as learning-based frameworks. ...
doi:10.1007/s43154-021-00045-6
fatcat:cfnlvoaacjhptlbdtk6fhjm37m
Sequential Bayesian Optimisation as a POMDP for Environment Monitoring with UAVs
[article]
2017
arXiv
pre-print
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While classical BO focuses on where to gather an observation next, it does not take into account practical constraints for a robotic system such as where it is physically possible to gather samples from ...
The resulting POMDP is solved using Monte-Carlo Tree Search (MCTS), which we adapt to using a reward function balancing exploration and exploitation. ...
The inherent complexity of online POMDP planners is dealt with by using an adapted version of Monte-Carlo tree search (MCTS) to approximate the aforementioned maximisation problem. ...
arXiv:1703.04211v1
fatcat:c2hhoozyrvcmdd2kmtx4sqjtea
An investigation of Global Positioning System (GPS) technology for disabled people
[chapter]
1994
Lecture Notes in Computer Science
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Applicable practitioners at the agencies were interviewed -using a standard interview guide -to gather their experiences and lessons from implementing, managing, and operating a GPS program. ...
Several different types of information were gathered, each with a different focus and purpose. • Seven relatively mature GPS supervision programs were identified for inclusion in the study. ...
GPS receivers that are capable of also receiving DGPS signals and using that information in computing location can theoretically derive location accuracy of about 10cm (as opposed to nominal accuracy of ...
doi:10.1007/3-540-58476-5_185
fatcat:ixpbhsr2dnaifg5lzjmuyo6itm
Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search
2019
2019 International Conference on Robotics and Automation (ICRA)
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Through experiments in a simulated environment, we show that the proposed approach outperforms a pure exploratory IPP planner, a coverage planner, and a random sampling planner by demonstrating the fastest ...
Finally, we combine the proposed planning approach with an existing human detection pipeline, and demonstrate its efficacy in locating human victims in a realistic simulated environment. ...
We define an information-theoretic objective function based on the acquisition function that is used in the BO framework. ...
doi:10.1109/icra.2019.8794345
dblp:conf/icra/MeeraPMS19
fatcat:us4punolkvdzhm33qxckv3vple
An informative path planning framework for UAV-based terrain monitoring
2020
Autonomous Robots
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To address this issue, this article introduces a general informative path planning framework for monitoring scenarios using an aerial robot, focusing on problems in which the value of sensor information ...
During a mission, the terrain maps built online are used to plan information-rich trajectories in continuous 3-D space by optimizing initial solutions obtained by a coarse grid search. ...
If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly ...
doi:10.1007/s10514-020-09903-2
fatcat:an2we352hzcmvd5mdnpcbray5e
An informative path planning framework for UAV-based terrain monitoring
[article]
2020
arXiv
pre-print
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To address this issue, this article introduces a general Informative Path Planning (IPP) framework for monitoring scenarios using an aerial robot, focusing on problems in which the value of sensor information ...
During a mission, the terrain maps built online are used to plan information-rich trajectories in continuous 3-D space by optimizing initial solutions obtained by a coarse grid search. ...
Our approach is compared against three different strategies: (a) the sampling-based rapidly exploring information gathering tree (RIG-tree) introduced by Hollinger and Sukhatme (2014), a state-of-the-art ...
arXiv:1809.03870v3
fatcat:ekmu5hpgvjbmffgzyhafynr4vm
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