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Discovering a Point Source in Unknown Environments

  • Martin Burger
  • Yanina Landa
  • Nicolay M. Tanushev
  • Richard Tsai
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 57)

Abstract

We consider the inverse problem of discovering the location of a source from very sparse point measurements in a bounded domain that contains impenetrable (and possibly unknown) obstacles. We present an adaptive algorithm for determining themeasurement locations, and ultimately, the source locations. Specifically, we investigate source discovery for the Laplace operator, though the approach can be applied to more general linear partial differential operators. We propose a strategy for the case when the obstacles are unknown and the environment has to be mapped out using a range sensor concurrently with source discovery.

Keywords

Source Location Motion Planning Path Planning Blue Region Range Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Martin Burger
    • 1
  • Yanina Landa
    • 2
  • Nicolay M. Tanushev
    • 3
  • Richard Tsai
    • 3
  1. 1.Institute for Computational and Applied MathematicsWestfaelische Wilhelms Universitaet Muenster 
  2. 2.University of CaliforniaLos Angeles
  3. 3.University of Texas at Austin 

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