Adaptive sensing of time series with application to remote exploration

Abstract

Abstract-We address the problem of adaptive informationoptimal data collection in time series. Here a remote sensor or explorer agent throttles its sampling rate in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility -all collected datapoints lie in the past, but its resource allocation decisions require predicting far into the future. Our solution is to continually fit a Gaussian process model to the latest data and optimize the sampling plan on line to maximize information gain. We compare the performance characteristics of stationary and nonstationary Gaussian process models. We also describe an application based on geologic analysis during planetary rover exploration. Here adaptive sampling can improve coverage of localized anomalies and potentially benefit mission science yield of long autonomous traverses.

Automating X-ray Fluorescence Analysis for Rapid Astrobiology Surveys

“…Experiments in adaptive sampling demonstrate significant improvements in sample diversity for survey transects, corroborating prior work detailed by Thompson et al (2013). Both adaptive sampling approaches consistently improve the result achieved by periodic sampling.…”

Gaussian Process-Based Decentralized Data Fusion and Active Sensing for Mobility-on-Demand System

“…We have analytically and empirically demonstrated that GP-DDF + can achieve a better balance between predictive accuracy and time efficiency than the state-of-the-art GP-DDF [6] and FGP [14,15]. The practical applicability of GP-DDF + is not restricted to mobility demand prediction; it can be used in other urban and natural environmental sensing applications like monitoring of traffic, ocean and freshwater phenomena [4,7,13,16,17,18,23,26,28]. We have also analytically and empirically shown that even though DAS is devised to gather the most informative demand data for predicting the mobility demand pattern, it can achieve a dual effect of fleet rebalancing to service the mobility demands.…”

“…The second equality is due to (23). The third equality is due to (26). The fourth equality is due to (27).…”

“…The third equality is due to the definition of global summary (7). The fourth and fifth equalities are due to (25) and (26), respectively.…”

Muestreo adaptativo aplicado a la robótica: Revisión del estado de la técnica

“…Para ello realizan perforaciones, recogida y análisis de muestras, con la técnica explicada a lo largo de este artículo, para ir localizando los lugares másóptimos donde realizar este proceso. Estas investigaciones se realizan en el desierto de Atacama en Chile, haciendo uso de robots terrestres, Thompson et al (2013). Véase Figura 13.…”