• Corpus ID: 218718497

Informative Path Planning for Anomaly Detection in Environment Exploration and Monitoring

  title={Informative Path Planning for Anomaly Detection in Environment Exploration and Monitoring},
  author={Antoine Blanchard and Themistoklis P. Sapsis},
An unmanned autonomous vehicle (UAV) is sent on a mission to explore and reconstruct an unknown environment from a series of measurements collected by Bayesian optimization. The success of the mission is judged by the UAV's ability to faithfully reconstruct any anomalous feature present in the environment (e.g., extreme topographic depressions or abnormal chemical concentrations). We show that the criteria commonly used for determining which locations the UAV should visit are ill-suited for… 

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