6 papers · 1 filter
Schur-MI: Fast Mutual Information for Robotic Information Gathering
Kalvik Jakkala, Jason O'Kane, Srinivas Akella
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and inf…
Informative Path Planning with Guaranteed Estimation Uncertainty
Kalvik Jakkala, Saurav Agarwal, Jason O'Kane +1
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower sur…
Optimal UGV-UAV Cooperative Partitioning and Inspection of Shortest Paths
Ninh Nguyen, Srinivas Akella
We study cooperative shortest path planning for an unmanned ground vehicle (UGV) assisted by an unmanned aerial vehicle (UAV) in environments with unknown road blockages that are o…
Dynamic UGV-UAV Cooperative Path Planning in Uncertain Environments
Ninh Nguyen, Srinivas Akella
This paper addresses the Dynamic UGV-UAV Cooperative Path Planning (DUCPP) problem involving one unmanned ground vehicle (UGV) assisted by one or more unmanned aerial vehicles (UAV…
Efficient Sensor Placement from Regression with Sparse Gaussian Processes in Continuous and Discrete Spaces
Kalvik Jakkala, Srinivas Akella
The sensor placement problem is a common problem that arises when monitoring correlated phenomena, such as temperature, precipitation, and salinity. Existing approaches to this pro…
Multi-Robot Informative Path Planning from Regression with Sparse Gaussian Processes (with Appendix)
Kalvik Jakkala, Srinivas Akella
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should b…