CSL Decision and Control Group

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DCL Lecture Series: Prof. Silvia Ferrari "Information-driven Planning and Control for Active and Mobile Sensing"

Event Type
Seminar/Symposium
Sponsor
Decision and Control Laboratory, Coordinated Science Laboratory
Location
CSL Auditorium (B02)
Date
Mar 5, 2014   3:00 - 4:00 pm  
Speaker
Prof. Silvia Ferrari, Engineering and Computer Science, Duke University
Contact
Angie Ellis
E-Mail
amellis@illinois.edu
Phone
217/30-1910
Views
361

Information-driven Planning and Control for Active and Mobile Sensing 

Silvia Ferrari

Professor of Engineering and Computer Science

 Department of Mechanical Engineering and Materials Science

Laboratory for Intelligent Systems and Controls (LISC)

Duke University

Abstract:

Unmanned ground, aerial, and underwater vehicles equipped with on-board wireless sensors are becoming crucial to both civilian and military applications because of their ability to replace or assist humans in carrying out dangerous yet vital missions. As they are often required to operate in unstructured and uncertain environments, these mobile sensor networks must be adaptive and econfigurable, and decide future actions intelligently based on the sensor measurements and environmental information. Recent work on geometric and information-driven sensor path planning has shown that the performance of these sensors can be significantly improved by planning their paths based on probabilistic sensor models, and on the geometric characteristics of the workspace and of the sensor field-of-view or visibility region. This talk discusses a general framework by which the expected information value of sensor measurements can be described by information theoretic functions in closed form, and, consequently, used to derive path planning and control laws for active sensing and information gathering.

link for robots only