Dj. Cook et al., DECISION-THEORETIC COOPERATIVE SENSOR PLANNING, IEEE transactions on pattern analysis and machine intelligence, 18(10), 1996, pp. 1013-1023
This paper describes a decision-theoretic approach to cooperative sens
or planning between multiple autonomous vehicles executing a military
mission. For this autonomous vehicle application, intelligent cooperat
ive reasoning must be used to select optimal vehicle viewing locations
and select optimal camera pan and tilt angles throughout the mission.
Decisions are made in such a way as to maximize the Value of informat
ion gained by the sensors while maintaining vehicle stealth. Because t
he mission involves multiple vehicles, cooperation can be used to bala
nce the work load and to increase information gain. This paper present
s the theoretical foundations of our cooperative sensor planning resea
rch and describes the application of these techniques to ARPA's Unmann
ed Ground Vehicle program.