Title :
Decision-theoretic cooperative sensor planning
Author :
Cook, Diane J. ; Gmytrasiewicz, Piotr ; Holder, Lawrence B.
Author_Institution :
Dept. of Comput. Sci. Eng., Texas Univ., Arlington, TX, USA
fDate :
10/1/1996 12:00:00 AM
Abstract :
This paper describes a decision-theoretic approach to cooperative sensor planning between multiple autonomous vehicles executing a military mission. For this autonomous vehicle application, intelligent cooperative reasoning must be used to select optimal vehicle viewing locations and select optimal camera pan and tilt angles throughout the mission. Decisions are made in such a way as to maximize the value of information gained by the sensors while maintaining vehicle stealth. Because the mission involves multiple vehicles, cooperation can be used to balance the work load and to increase information gain. This paper presents the theoretical foundations of our cooperative sensor planning research and describes the application of these techniques to ARPA´s Unmanned Ground Vehicle program
Keywords :
active vision; cooperative systems; decision theory; intelligent control; military equipment; mobile robots; optimisation; robot vision; sensors; vehicles; ARPA; Unmanned Ground Vehicle program; autonomous vehicle application; cooperative sensor planning research; decision-theoretic cooperative sensor planning; intelligent cooperative reasoning; military mission; multiple autonomous vehicles; optimal camera pan angle; optimal camera tilt angle; optimal vehicle viewing locations; vehicle stealth; Cameras; Decision theory; Intelligent sensors; Intelligent vehicles; Land vehicles; Mobile robots; Navigation; Remotely operated vehicles; Sensor phenomena and characterization; Surveillance;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on