Distributed robotic sensor networks: An information-theoretic approach

@article{Julian2012DistributedRS,
  title={Distributed robotic sensor networks: An information-theoretic approach},
  author={Brian J. Julian and Michael Angermann and Mac Schwager and Daniela Rus},
  journal={I. J. Robotics Res.},
  year={2012},
  volume={31},
  pages={1134-1154}
}
This paper presents an information theoretic approach to distributively control multiple robots equipped with sensors to infer the state of an environment. The robots iteratively estimate the environment state using a sequential Bayesian filter, while continuously moving along the gradient of mutual information to maximize the informativeness of the observations provided by their sensors. The gradient-based controller is proven to be convergent between observations and, in its most general form… CONTINUE READING
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