Information Based Aerial Exploration with a Gimballed EO/IR Sensor, Report no. LiTH-ISY-R-2886
نویسنده
چکیده
In this report we present an exploration framework that is inspired by the research in optimal path for bearings-only tracking. A number of static grid points represent the area to be explored by an aerial sensor platform with a gimballed EO/IR staring array sensor with limited field-of-view. The problem is to plan the path of the sensor platform and the aiming direction of the EO/IR sensor to minimize the uncertainty, in some sense, of the grid points. The objective measures used are based on information theory concepts and can be interpreted as parametric Cramér Rao Bound.
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