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Informative Path Planning in the Presence of Adversarial Observers
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-4671-3239
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0001-6957-2603
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-1971-4295
2019 (English)In: 2019 22nd International Conference on Information Fusion (FUSION), 2019Conference paper, Published paper (Refereed)
Abstract [en]

This paper considers the problem of gathering information about features of interest in adversarial environments using mobile robots equipped with sensors. The problem is formulated as an informative path planning problem where the objective is to maximize the gathered information while minimizing the tracking performance of the adversarial observer. The optimization problem, that at first glance seems intractable to solve to global optimality, is shown to be equivalent to a mixed-integer semidefinite program that can be solved to global optimality using off-the-shelf optimization tools.

Place, publisher, year, edition, pages
2019.
Keywords [en]
Informative path planning, risk minimization, global optimization
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-159622OAI: oai:DiVA.org:liu-159622DiVA, id: diva2:1342204
Conference
22nd International Conference on Information Fusion (FUSION), Ottawa, Canada, July 2-5, 2019
Projects
WASP
Funder
Wallenberg AI, Autonomous Systems and Software Program (WASP)Available from: 2019-08-13 Created: 2019-08-13 Last updated: 2019-08-13

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Citation style
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  • harvard1
  • ieee
  • modern-language-association-8th-edition
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Language
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
  • asciidoc
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