Value-of-information aware active task assignment

Beipeng Mu, Girish Chowdhary, Jonathan P. How

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


This paper discusses the problem of robust allocation of unmanned vehicles (UV) to targets with uncertainties. In particular, the team consists of heterogeneous vehicles with different exploration and exploitation abilities. A general framework is presented to model uncertainties in the planning problems, which goes beyond traditional Gaussian noise. Traditionally, exploration and exploitation are decoupled into two assignment problems are planned with un-correlated goals. The coupled planning method considered here assign exploration vehicles based on its potential inuence of the exploitation. Furthermore, a fully decentralized algorithm, Consensus-Based Bundle Algorithm (CBBA), is used to implement the decoupled and coupled methods. CBBA can handle system dynamic constraints such as target distance, vehicle velocities, and has computation complexity polynomial to the number of vehicles and targets. The coupled method is shown to have improved planning performance in a simulated scenario with uncertainties about target classification.

Original languageEnglish (US)
Title of host publicationAlgorithms for Synthetic Aperture Radar Imagery XX
StatePublished - 2013
Externally publishedYes
EventAlgorithms for Synthetic Aperture Radar Imagery XX - Baltimore, MD, United States
Duration: May 1 2013May 2 2013

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


OtherAlgorithms for Synthetic Aperture Radar Imagery XX
Country/TerritoryUnited States
CityBaltimore, MD

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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