IEEE - Institute of Electrical and Electronics Engineers, Inc. - Planning periodic persistent monitoring trajectories for sensing robots in Gaussian Random Fields

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Xiaodong Lan ; Mac Schwager
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 2,415 - 2,420
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630905
Regular:

This paper considers the problem of planning a trajectory for a sensing robot to best estimate a time-changing Gaussian Random Field in its environment. The robot uses a Kalman filter to maintain... View More

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