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This work focuses on the observation of environmental phenomena that occur as spatial distributions in two and three dimensions, using sensor-enabled mobile vehicle (ground,air or undersea). Algorithms to guide an adaptive exploration of a given region through systematic choice of sampling locations under the constraints imposed by vehicles are presented. Variation sensitive multiresolution sample...
This paper presents an approach to approximate information content for active sensing tasks. The unscented transform is used to represent probability distributions by a set of representative sample points that capture the first and second moments of the distribution. Using these sample points, the effects of nonlinear operators on a probability distribution of active sensing costs can be approximated...
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