Communication efficient decentralized Gaussian Process Fusion for multi-UAS path planning

Rakshit Allamraju, Girish Chowdhary

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a decentralized, communication efficient method for joint sensing and learning (regression) of spatiotemporal phenomena using a team of autonomous networked sensing agents. Gaussian Process (GP) priors are utilized in a Bayesian regression framework over the unknown function, with our main contribution being the introduction of a communication efficient decentralized GP inference algorithm and associated agent path planning strategy. Our method relies on reducing communication between agents by exchanging GP model parameters, instead of actual measured data. The global GP model is leveraged to maximize exploration of the sensing space using a policy iteration planning framework. The performance of the presented method is compared against state-of-the-art consensus based and GP-DDF method, and it is shown that the presented method provides significant improvements in regression accuracy while reducing communication required.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4442-4447
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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