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Exploration under Sparsity Constraints

Manss, Christoph and Shutin, Dmitriy and Viseras Ruiz, Alberto and Wiedemann, Thomas and Müller, Joachim (2015) Exploration under Sparsity Constraints. In: 2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings. ECMR 2015, 2.9.2015-4.9.2015, Lincoln (UK).

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This paper addresses the problem of designing an efficient exploration strategy for multiple mobile agents. As an exploration strategy, an intelligent waypoint generation is considered, where the trajectory of the agent is governed by the properties of the explored phenomenon. Here it is assumed that the explored field is sparse in it’s spatial distribution; consequently, it is assumed that a certain agent’s movement trajectory might favor a sparse solution, as contrasted to simple sampling strategies. Specifically, these trajectories lead to an emergence of a structured sensing matrix consisting of shifted sensor impulse responses. Nevertheless some properties of this matrix, such as low mutual coherence, are essential for a successful sparse reconstruction of the phenomenon. Thus, the agents are directed to move so as to favor the desired properties of the sensing matrix, an approach termed sparse exploration. Unfortunately, numerical techniques for optimization of the sensing matrix are intractable. Therefore this paper proposes a number of heuristics, which numerically optimize the measurement locations of the agents so as to favor a sparse solution. Synthetic experiments are performed to demonstrate the effectiveness of the proposed heuristics as compared to simple random walk or regular movement patterns.

Item URL in elib:https://elib.dlr.de/118881/
Document Type:Conference or Workshop Item (Poster)
Title:Exploration under Sparsity Constraints
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Manss, Christophchistoph.manss (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Viseras Ruiz, AlbertoAlberto.ViserasRuiz (at) dlr.deUNSPECIFIED
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Müller, JoachimJoachim.Mueller (at) dlr.deUNSPECIFIED
Journal or Publication Title:2015 European Conference on Mobile Robots, ECMR 2015 - Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Compressed Sensing, Active Sensing, Coverage Problem, Path Planning
Event Title:ECMR 2015
Event Location:Lincoln (UK)
Event Type:international Conference
Event Dates:2.9.2015-4.9.2015
Organizer:University of Lincoln
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old), R - Project Dependable Navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Manß, Christoph
Deposited On:09 Feb 2018 08:26
Last Modified:31 Jul 2019 20:16

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