Distributed Optimization of Nonlinear, Non-Gaussian, Communication-Aware Information using Particle Methods
Sangwoo Moon,Eric W. Frew,Sangwoo Moon,Eric W. Frew
This paper presents a distributed optimization framework and its local utility design for communication-aware information gathering by mobile robotic sensor networks. The main idea of the optimization is that each robot decides based on its local utility that considers the decisions of other neighbor robots higher in a given hierarchy. The local utility is designed as conditional mutual informatio...
