Informative Path Planning for Active Regression With Gaussian Processes via Sparse Optimization

• Published in: IEEE transactions on robotics Vol. 41; pp. 2184 - 2199
• Main Authors: Dutta, Shamak, Wilde, Nils, Smith, Stephen L.
• Format: Journal Article
• Language: English
• Published: IEEE 2025
• Subjects: Computational modeling; Estimation error; Gaussian processes; Gaussian processes (GP); Greedy algorithms; informative path planning (IPP); Path planning; robot information gathering; Robot kinematics; Robot sensing systems; Robots; Routing; Sensor placement
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2025.3548865

We study informative path planning for active regression in Gaussian Processes (GP). Here, a resource constrained robot team collects measurements of an unknown function, assumed to be a sample from a GP, with the goal of minimizing the trace of the <inline-formula><tex-math notation="...