Adaptive Sensor Selection in Sequential Decision Making Vaibhav Srivastava, Kurt Plarre and Francesco Bullo Center for Control, Dynamical Systems & Computation University of California at Santa Barbara http://motion.me.ucsb.edu/∼vaibhav 14 December 2011 Conference on Decision & Control and European Control Conference Vaibhav Srivastava (UCSB) Adaptive Sensor Selection 12-14-11 CDC-ECC 1 / 11 Motivation: Sensor selection Attention in Camera Sensor Network Sensors for UAV Surveillance Which camera to choose? Cloud Rain Wind EO X X X SAR X FPR X X IR X X MTIR X Which sensor to choose? 1 how to avoid operator overload? 2 how to select most informative sensors and focus attention? Vaibhav Srivastava (UCSB) Adaptive Sensor Selection 12-14-11 CDC-ECC 2 / 11 Motivation: Sensor selection Attention in Camera Sensor Network Sensors for UAV Surveillance Vaibhav Srivastava (UCSB) Adaptive Sensor Selection 12-14-11 CDC-ECC 2 / 11 Relevant Literature Human Decision Making R. Bogacz, E. Brown, J. Moehlis, P. Holmes, and J. D. Cohen. The physics of optimal decision making: A formal analysis of performance in two-alternative forced choice tasks. Psychological Review, 113(4):700–765, 2006 Sequential Test of Hypothesis A. Wald. Sequential tests of statistical hypotheses. 16(2):117–186, 1945 C. W. Baum and V. V. Veeravalli. A sequential procedure for multihypothesis testing. IEEE Trans In- formation Theory, 40(6):1994–2007, 1994 Sensor Selection D. Bajovi´ c, B. Sinopoli, and J. Xavier. Sensor selection for hypothesis testing in wireless sensor networks: a Kullback-Leibler based approach. In Proc CDC, pages 1659–1664, Shanghai, China, December 2009 S. Joshi and S. Boyd. Sensor selection via convex optimization. IEEE Trans Signal Processing, 57(2):451–462, 2009 Search J. P. Hespanha, H. J. Kim, and S. S. Sastry. Multiple-agent probabilistic pursuit-evasion games. In Proc CDC, pages 2432–2437, Phoenix, AZ, USA, December 1999 T. H. Chung and J. W. Burdick. A decision-making framework for control strategies in probabilistic search. In Proc ICRA, pages 4386–4393, Roma, Italy, April 2007 Vaibhav Srivastava (UCSB) Adaptive Sensor Selection 12-14-11 CDC-ECC 3 / 11
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Adaptive Sensor Selection in Sequential Decision Making
Vaibhav Srivastava, Kurt Plarre and Francesco Bullo
Center for Control, Dynamical Systems & Computation
University of California at Santa Barbara
http://motion.me.ucsb.edu/∼vaibhav
14 December 2011
Conference on Decision & Control and European Control Conference
R. Bogacz, E. Brown, J. Moehlis, P. Holmes, and J. D. Cohen. The physics of optimal decisionmaking: A formal analysis of performance in two-alternative forced choice tasks. Psychological
Review, 113(4):700–765, 2006
Sequential Test of Hypothesis
A. Wald. Sequential tests of statistical hypotheses. 16(2):117–186, 1945
C. W. Baum and V. V. Veeravalli. A sequential procedure for multihypothesis testing. IEEE Trans In-
formation Theory, 40(6):1994–2007, 1994
Sensor Selection
D. Bajovic, B. Sinopoli, and J. Xavier. Sensor selection for hypothesis testing in wireless sensornetworks: a Kullback-Leibler based approach. In Proc CDC, pages 1659–1664, Shanghai, China,December 2009S. Joshi and S. Boyd. Sensor selection via convex optimization. IEEE Trans Signal Processing,57(2):451–462, 2009
Search
J. P. Hespanha, H. J. Kim, and S. S. Sastry. Multiple-agent probabilistic pursuit-evasion games. InProc CDC, pages 2432–2437, Phoenix, AZ, USA, December 1999T. H. Chung and J. W. Burdick. A decision-making framework for control strategies in probabilisticsearch. In Proc ICRA, pages 4386–4393, Roma, Italy, April 2007