Title:
Estimation-informed, Resource-aware Robot Navigation for Environmental Monitoring Applications

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dc.contributor.author Parker, Lonnie T. en_US
dc.contributor.author Coogle, Richard A. en_US
dc.contributor.author Howard, Ayanna M. en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. Human-Automation Systems Lab en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.date.accessioned 2013-07-03T20:06:23Z
dc.date.available 2013-07-03T20:06:23Z
dc.date.issued 2013-05
dc.description ©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013) May 6-10, 2013, Karlsruhe, Germany. en_US
dc.description.abstract Environmental monitoring of spatially-distributed geo-physical processes (e.g., temperature, pressure, or humidity) requires efficient sampling schemes, particularly, when employing an autonomous mobile agent to execute the sampling task. Many approaches have considered optimal sampling strategies which specialize in minimizing estimation error, while others emphasize reducing resource usage, yet rarely are both of these performance parameters used concurrently to influence the navigation. This work discusses how a spatial estimation process and resource awareness are integrated to generate an informed navigation policy for collecting useful measurement information. We also enable a direct comparison between this informed navigation method and more common approaches using two performance metrics. We show that our informed navigation outperforms these approaches based on performance evaluation as a function of estimation error and resource usage for a useful range of coverage within the sampling area. en_US
dc.identifier.citation L. Parker, R. Coogle, A. Howard, “Estimation-informed, Resource-aware Robot Navigation for Environmental Monitoring Applications,” IEEE Int. Conf. on Robotics and Automation (ICRA), May 2013. en_US
dc.identifier.uri http://hdl.handle.net/1853/48211
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Environmental monitoring en_US
dc.subject Spatially-distributed geo-physical processes en_US
dc.subject Autonomous mobile agents en_US
dc.subject Sampling schemes en_US
dc.title Estimation-informed, Resource-aware Robot Navigation for Environmental Monitoring Applications en_US
dc.type Text
dc.type.genre Proceedings
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Howard, Ayanna M.
local.contributor.corporatename School of Civil and Environmental Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication 88639fad-d3ae-4867-9e7a-7c9e6d2ecc7c
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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