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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15483

Title: Map-Reduce Gaussian Process (MR-GP) for Multi-UAV based Environment Monitoring with Limited Battery
Authors: Tiwari, Kshitij
Jeong, Sungmoon
Chong, Nak Young
Keywords: Autonomous decentralized system
Gaussian process
Active sensing
Environmental monitoring
Issue Date: 2017-09-19
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)
Start page: 760
End page: 763
DOI: 10.23919/SICE.2017.8105445
Abstract: Environment monitoring is a challenging task owing to its ever changing dynamics. Furthermore, deploying a team of resource constrained robots to persistently monitor the environment encompasses intelligently selecting the training samples which are spread across a significantly large area to conservatively spend the resources allocated. In order to accomplish this using a team of fully autonomous self-reliant robots, we pose this problem as a map-reduce architecture: Map phase involves each individual member gathering its training samples and generating the best possible model of the environment followed by the Reduce phase where we merge all these models into a single globally consistent model to infer the environment dynamics. Our preliminary contributions to both these phases have shown significant ease to parallelize the process of gathering training samples whilst reducing the over-all model uncertainty. We demonstrated these results in a communication devoid simulated environment using publicly available datasets.
Rights: This is the author's version of the work. Copyright (C) 2017 IEEE. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2017, 760-763. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/15483
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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