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• W2955932128 abstract "This letter investigates the computation of information measures for distributed communication-aware information gathering by robotic sensor networks. The mutual information between an unknown target state and measurements received over a lossy network is derived in order to combine sensing and communication into a single objective function that can be optimized by the robot sensor network. Communication is modeled as a packet erasure channel, leading to a formulation of the mutual information that scales exponentially in the number of agents and time horizon. Several approximations to reduce this computational complexity are introduced and evaluated. Further, sample-based methods are introduced in order to derive approximate solutions of the mutual information when the system is nonlinear and uncertainties have non-Gaussian distributions. Finally, the information measure is evaluated through simulation experiments of multiple aerial robots tracking stationary radio emitters." @default.
• W2955932128 created "2019-07-12" @default.
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• W2955932128 date "2019-10-01" @default.
• W2955932128 modified "2023-09-26" @default.
• W2955932128 title "A Communication-Aware Mutual Information Measure for Distributed Autonomous Robotic Information Gathering" @default.
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• W2955932128 doi "https://doi.org/10.1109/lra.2019.2924850" @default.
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