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Paper WeA08.6

Binney, Jonathan (University of Southern California), Sukhatme, Gaurav (University of Southern California)

Branch and Bound for Informative Path Planning

Scheduled for presentation during the Regular Session "Motion Path Planning I" (WeA08), Wednesday, May 16, 2012, 09:45−10:00, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Motion and Path Planning, Marine Robotics

Abstract

We present an optimal algorithm for informative path planning (IPP), using a branch and bound method inspired by feature selection algorithms. The algorithm uses the monotonicity of the objective function to give an objective function-dependent speedup versus brute force search. We present results which suggest that when maximizing variance reduction in a Gaussian process model, the speedup is significant.

 

 

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