Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets
The problem addressed in this paper is information theoretic sensor control for recursive Bayesian multi-object state-space estimation using random finite sets. The proposed algorithm is formulated in the framework of partially observed Markov decision processes where the reward function associated...
| Main Authors: | , |
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| Format: | Journal Article |
| Published: |
Pergamon
2010
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| Online Access: | http://hdl.handle.net/20.500.11937/48253 |
| _version_ | 1848758058464837632 |
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| author | Ristic, B. Vo, Ba-Ngu |
| author_facet | Ristic, B. Vo, Ba-Ngu |
| author_sort | Ristic, B. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | The problem addressed in this paper is information theoretic sensor control for recursive Bayesian multi-object state-space estimation using random finite sets. The proposed algorithm is formulated in the framework of partially observed Markov decision processes where the reward function associated with different sensor actions is computed via the Renyi or alpha divergence between the multi-object prior and the multi-object posterior densities. The proposed algorithm in implemented via the sequential Monte Carlo method. The paper then presents a case study where the problem is to localise an unknown number of sources using a controllable moving sensor which provides range-only detections. Four sensor control reward functions are compared in the study and the proposed scheme is found to perform the best. |
| first_indexed | 2025-11-14T09:37:57Z |
| format | Journal Article |
| id | curtin-20.500.11937-48253 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:37:57Z |
| publishDate | 2010 |
| publisher | Pergamon |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-482532017-09-13T14:23:34Z Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets Ristic, B. Vo, Ba-Ngu Information measure Random finite sets Particle filter Sensor management Sequential Monte Carlo estimation Bayesian estimation The problem addressed in this paper is information theoretic sensor control for recursive Bayesian multi-object state-space estimation using random finite sets. The proposed algorithm is formulated in the framework of partially observed Markov decision processes where the reward function associated with different sensor actions is computed via the Renyi or alpha divergence between the multi-object prior and the multi-object posterior densities. The proposed algorithm in implemented via the sequential Monte Carlo method. The paper then presents a case study where the problem is to localise an unknown number of sources using a controllable moving sensor which provides range-only detections. Four sensor control reward functions are compared in the study and the proposed scheme is found to perform the best. 2010 Journal Article http://hdl.handle.net/20.500.11937/48253 10.1016/j.automatica.2010.06.045 Pergamon restricted |
| spellingShingle | Information measure Random finite sets Particle filter Sensor management Sequential Monte Carlo estimation Bayesian estimation Ristic, B. Vo, Ba-Ngu Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title | Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title_full | Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title_fullStr | Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title_full_unstemmed | Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title_short | Sensor Control for Multi-Object State-Space Estimation Using Random Finite Sets |
| title_sort | sensor control for multi-object state-space estimation using random finite sets |
| topic | Information measure Random finite sets Particle filter Sensor management Sequential Monte Carlo estimation Bayesian estimation |
| url | http://hdl.handle.net/20.500.11937/48253 |