Information-Driven Path Planning

Shi Bai

Abstract: The era of robotics-based environmental monitoring has given rise to many interesting areas of research. A key challenge is that robotic platforms and their operations are typically constrained in ways that limit their energy, time, or travel distance, which in turn limits the number of measurements that can be collected. Therefore, paths need to be planned to maximize the information gathered about an unknown environment while satisfying the given budget constraint, which is known as the informative planning problem. This review discusses the literature dedicated to information-driven path planning, introducing the key algorithmic building blocks as well as the outstanding challenges.