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

Nagavenkat Adurthi; Puneet Singla; Tarunraj Singh

doi:10.1109/acc.2013.6580429

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

Nagavenkat Adurthi, Puneet Singla, Tarunraj Singh

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 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 language	English (US)
Title of host publication	2013 American Control Conference, ACC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3864-3869
Number of pages	6
ISBN (Print)	9781479901777
DOIs	https://doi.org/10.1109/acc.2013.6580429
State	Published - 2013
Event	2013 1st American Control Conference, ACC 2013 - Washington, DC, United States Duration: Jun 17 2013 → Jun 19 2013

Publication series

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

Other

Other	2013 1st American Control Conference, ACC 2013
Country/Territory	United States
City	Washington, DC
Period	6/17/13 → 6/19/13

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2013.6580429

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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). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2013.6580429

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title = "Optimal information collection for nonlinear systems- An application to multiple target tracking and localization",

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.",

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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., 6580429, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 3864-3869, 2013 1st American Control Conference, ACC 2013, Washington, DC, United States, 6/17/13. https://doi.org/10.1109/acc.2013.6580429

Optimal information collection for nonlinear systems- An application to multiple target tracking and localization. / Adurthi, Nagavenkat; Singla, Puneet; Singh, Tarunraj.

2013 American Control Conference, ACC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 3864-3869 6580429 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - 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.

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

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