面向鲁棒目标识别的主动感知与延迟决策轨迹优化 / Active Sensing and Deferred-Decision Trajectory Optimization for Robust Target Identification
1️⃣ 一句话总结
本文提出了一种名为AS-DDTO的轨迹规划方法,通过让移动传感器在前往多个候选目标的路径上尽可能保持重合,同时主动引导传感器前往信息更丰富的区域,从而在有限传感预算下更早、更可靠地识别出真正的目标。
We study trajectory optimization in mobile sensing systems that must identify which member of a finite candidate set is the true target, while maintaining reachability to all potential candidate targets, under resource constraints. Deferred-Decision Trajectory Optimization (DDTO) addresses this setting by computing trajectories that reach individual targets but remain coincident for as long as possible before separating toward different targets. We propose Active-Sensing DDTO (AS-DDTO), which extends DDTO by adding a trajectory-dependent information-acquisition term to the planning objective. The resulting planner maintains reachability to candidate targets while biasing the coincident portion of the trajectories toward regions that enable earlier target identification. The framework supports Bayesian updates and conformal candidate-set updates for distance-dependent sensing. We derive a mixed-integer conic reformulation and provide guarantees on recursive feasibility, belief concentration, and fixed-time coverage for the raw conformal candidate set. Numerical simulations show improved target identification compared with standard DDTO under distance-dependent sensing uncertainty and limited sensing budget.
面向鲁棒目标识别的主动感知与延迟决策轨迹优化 / Active Sensing and Deferred-Decision Trajectory Optimization for Robust Target Identification
本文提出了一种名为AS-DDTO的轨迹规划方法,通过让移动传感器在前往多个候选目标的路径上尽可能保持重合,同时主动引导传感器前往信息更丰富的区域,从而在有限传感预算下更早、更可靠地识别出真正的目标。
源自 arXiv: 2606.22277