Active Control Strategies for Discovering and Localizing Devices with Range-Only Sensors [chapter]

Benjamin Charrow, Nathan Michael, Vijay Kumar
2015 Springer Tracts in Advanced Robotics  
This paper addresses the problem of actively controlling robotic teams with range-only sensors to a) discover and b) localize an unknown number of devices. We develop separate information based objectives to achieve both goals, and examine ways of combining them into a unified approach. Despite the computational complexity of calculating these policies for multiple robots over long time horizons, a series of approximations enable all calculations to be performed in polynomial time. We
more » ... e the tangible benefits of our approaches through a series of simulations in complex indoor environments.
doi:10.1007/978-3-319-16595-0_4 fatcat:dszgjehuzbhp3buckmdqc5qbcy