Exploration Versus Data Refinement Via Multiple Mobile Sensors Based On Epistemic Utility Controller

The study of an unknown region using multiple mobile sensors is considered. The problem involves balancing between the exploration desire vs. data refinement desire with either limited or local measurements. The problem raised here may contain several constraints such as the affordable power of the sensors for changing the trajectories and the feasible trajectories, as well. For this purpose, we develop a new framework. Due to the constraints in these types of problems, the proposed framework makes value-laden decisions on selecting the trajectories using Gaussian process modeling and epistemic utility controller.