Cautious Greedy Strategy for Bearing-based Active Localization: Technical Report

Date of Submission: 
September 16, 2011
Report Number: 
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We study a novel sensing model which occurs in wildlife monitoring applications. The sensor can be approximated as a bearing-to-target sensor, but with several critical attributes that set it apart from those addressed in bearing-only tracking literature. We propose a measurement strategy that can guarantee reduction in uncertainty in competitive time, regardless of the problem instance. We provide theoretical analysis in the form of a competitive proof, numerical studies, and results from field trials which confirm the applicability of the algorithm.