Active sensing data collection with autonomous mobile robots

Richard Wang, Manuela Veloso, Srinivasan Seshan
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
With the introduction of autonomous robots that help perform various tasks in our environments, we can opportunistically use them for collecting fine-grain sensor measurements about our surroundings. Use of mobile robots for data collection scales much better than static sensors in terms of number of measurement locations and provide more fine-grain accuracy and reliability than alternate human crowd-sourcing efforts. One of the unique features of mobile robots is the ability to control and
more » ... to control and direct where and when measurements should be collected. In this paper, we present a system to compute paths for the robot to follow that incorporates the robot's limited expected deployment time, expected measurement value at each location, and a history of when each location was last visited.
doi:10.1109/icra.2016.7487415 dblp:conf/icra/WangVS16 fatcat:df4xyogeabf3lggycd3t5uyjeq