Optimal information collection for nonlinear systems- An application to multiple target tracking and localization

Nagavenkat Adurthi, Puneet Singla, Tarunraj Singh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Active sensors need to be optimally deployed or configured so as to make the best measurements at any given time. Then of immediate concern is the problem of characterising or measuring sensor performance before the measurement has been taken. In this paper, the well known concept of Mutual Information is chosen as the utility function for optimizing the sensor parameters. The standard problem of multiple target tracking using a configurable sensor mounted onto a UAV, or a ground based robot vehicle, is formulated in an optimal control framework such that the trajectory traced by the UAV maximizes the Information gain. An example of airplane tracking using an UAV is illustrated.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages3864-3869
Number of pages6
StatePublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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    Adurthi, N., Singla, P., & Singh, T. (2013). Optimal information collection for nonlinear systems- An application to multiple target tracking and localization. In 2013 American Control Conference, ACC 2013 (pp. 3864-3869). [6580429] (Proceedings of the American Control Conference).