Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
<|reference_start|>Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV: Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level informative path-planning algorithm. This paper aims to address these data acquisition challenges by developing an informative non-myopic sensor planning framework for a single-axis gimbal coupled with an informative path planner to maximize information gain over a prior information map. This is done by finding reduced sensor sweep bounds over a planning horizon such that regions of higher confidence are prioritized. This novel sensor planning framework is evaluated against a predefined sensor sweep and no sensor planning baselines as well as validated in two simulation environments. In our results, we observe an improvement in the performance by 21.88% and 13.34% for the no sensor planning and predefined sensor sweep baselines respectively.<|reference_end|>
@article{parandekar2024informative,
    title={Informative Sensor Planning for a Single-Axis Gimbaled Camera on a
  Fixed-Wing UAV},
    author={Aditya Parandekar, Brady Moon, Nayana Suvarna, Sebastian Scherer},
    journal={arXiv preprint arXiv:2407.04896},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.04896},
    primaryClass={cs.RO}
}