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<p>This thesis addresses the problem of information-driven sensor path planning for
the purpose of target detection, measurement, and classification using non-holonomic
mobile sensor agents (MSAs). Each MSA is equipped with two types of sensors. One is
the measuring sensor with small FOV, while the other is the detecting sensor with
large FOV. The measuring sensor could be ground penetrating radar (GPR), while the
detecting sensor can be infrared radar (IR). The classification of a target can be
reduced to the problem of estimating one or more random variables associated with
this target from partial or imperfect measurements from sensorscite{stengel}, and
can be represented by a probability mass function (PMF). Previous work shows the performance
of MSAs can be greatly improved by planning their motion and control laws based on
their sensing objectives. Because of the stochastic nature of sensing objective, the
expected measurement benefit of a target, i.e, the information value, is defined as
the expected entropy reduction of its classification PMF before the next measurement
is taken of this target. The information value of targets is combined with other robot
motion planning methods to address the sensor planning problem.</p><p>By definition,
the entropy reduction can be represented by conditional mutual information of PMF
given a measurement. MSAs are deployed in an obstacle-populated environment, and must
avoid collisions with obstacles, as well as, in some cases, targets.</p><p>This thesis
first presents a modified rapidly-exploring random trees (RRTs) approach with a novel
milestone sampling method. The sampling function for RRTs takes into account the information
value of targets, and sensor measurements of obstacle locations, as well as MSAs'
configurations (e.g., position and orientation) and velocities to generate new milestones
for expanding the trees online. By considering the information value, the sample function
favors expansions toward targets with higher expected measurement benefit. After sampling,
the MSAs navigate to the selected milestones based on the critic introduced later
and take measurements of targets within their FOVs. Then, the thesis introduces an
information potential method (IPM) approach which combined information values of targets
with the potential functions. Targets with high information value have larger influence
distance and tend to have high probability to be measured by the MSAs. Additionally,
this information potential field is utilized to generate the milestones in a local
probabilistic roadmap method to help MSAs escape their local minima.</p><p>The proposed
two methods are applied to a landmine classification problem. It is assumed that geometries
and locations of partial obstacles and targets are available as prior information,
as well as previous measurements on targets concerning their classification. The experiments
show that paths of MSAs using the modified RRTs and IPM take advantages of the information
value by favoring targets with high information value. Furthermore, the results show
that the IPM</p><p>outperforms other approaches such as the modified RRTs with information
value and classical potential field method that does not take target information value
into account.</p>
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