Title :
Branch and bound for informative path planning
Author :
Binney, Jonathan ; Sukhatme, Gaurav S.
Author_Institution :
Dept. of Comput. Sci., Univ. of Southern California (USC), Los Angeles, CA, USA
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.
Keywords :
Gaussian processes; mobile robots; path planning; tree searching; Gaussian process model; branch and bound method; feature selection algorithms; informative path planning; objective function monotonicity; optimal algorithm; Force; Path planning; Planning; Robots; Search problems; Sensors; Upper bound;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224902