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Online information gathering using sampling-based planners and GPs: An information theoretic approach

Alberto Viseras, Dmitriy Shutin, Luis Merino
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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]

Li Ching Liew, Ong Sing Goh
2014 arXiv   pre-print
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

Dachuan Li, Qing Li, Nong Cheng, Jingyan Song
2014 Sensors  
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

Lili Cao, John Krumm
2009 Proceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems - GIS '09  
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

Katarzyna Siła-Nowicka, Jan Vandrol, Taylor Oshan, Jed A. Long, Urška Demšar, A. Stewart Fotheringham
2015 International Journal of Geographical Information Science  
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]

Hai Zhu, Jen Jen Chung, Nicholas R.J. Lawrance, Roland Siegwart, Javier Alonso-Mora
2021 arXiv   pre-print
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

Victoria Preston, Genevieve Flaspohler, Anna Pauline Miranda Michel, Yogesh Girdhar, Nicholas Roy
2019 IEEE Robotics and Automation Letters  
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

Ray Pritchard, Dominik Bucher, Yngve Frøyen
2019 Journal of Transport Geography  
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]

Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake
2017 arXiv   pre-print
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

Shi Bai, Tixiao Shan, Fanfei Chen, Lantao Liu, Brendan Englot
2021 Current Robotics Reports  
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]

Philippe Morere, Roman Marchant, Fabio Ramos
2017 arXiv   pre-print
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]

Paul Blenkhorn, David Gareth Evans, Stephen Pettitt
1994 Lecture Notes in Computer Science  
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

Ajith Anil Meera, Marija Popovic, Alexander Millane, Roland Siegwart
2019 2019 International Conference on Robotics and Automation (ICRA)  
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

Marija Popović, Teresa Vidal-Calleja, Gregory Hitz, Jen Jen Chung, Inkyu Sa, Roland Siegwart, Juan Nieto
2020 Autonomous Robots  
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]

Marija Popovic, Teresa Vidal-Calleja, Gregory Hitz, Jen Jen Chung, Inkyu Sa, Roland Siegwart, Juan Nieto
2020 arXiv   pre-print
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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