Optimal Coupled Sensor Placement and Path Planning in Unknown Time-Varying Environments

What is it about?

Imagine a robot trying to find the safest way through a dangerous area. This area could be facing a hazard such as a forest fire, or flood. Our goal is to help the robot find the safest path while using the fewest sensors to check for danger. We created a new way to choose where to place the sensors. This new method focuses on how much information the sensors give us about the safety of different paths. We then designed a plan where the robot: 1. Places sensors: It chooses the best spots to place sensors based on how much information they will give about the safest path. 2. Checks for danger: The sensors measure the danger level in different areas. 3. Finds the safest path: The robot uses the sensor information to find the safest path. 4. Repeats: The robot keeps repeating these steps until it finds a very safe path. This method helps the robot find the safest path while using fewer sensors than other methods.

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