• Corpus ID: 221446673

An Information-Theoretic Approach to Persistent Environment Monitoring Through Low Rank Model Based Planning and Prediction

  title={An Information-Theoretic Approach to Persistent Environment Monitoring Through Low Rank Model Based Planning and Prediction},
  author={Elizabeth A. Ricci and Madeleine Udell and Ross A. Knepper},
Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a limited number of observation points in a large region, from which we can predict the state of unobserved points in the region. We combine a low rank model of a target attribute with an information-maximizing path planner to predict the state of the attribute… 

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