{"paper":{"title":"Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG","stat.ML"],"primary_cat":"cs.RO","authors_text":"Nora Ayanian, Sahil Garg","submitted_at":"2018-04-27T14:55:38Z","abstract_excerpt":"This paper presents a solution for persistent monitoring of real-world stochastic phenomena, where the underlying covariance structure changes sharply across time, using a small number of mobile robot sensors. We propose an adaptive solution for the problem where stochastic real-world dynamics are modeled as a Gaussian Process (GP). The belief on the underlying covariance structure is learned from recently observed dynamics as a Gaussian Mixture (GM) in the low-dimensional hyper-parameters space of the GP and adapted across time using Sequential Monte Carlo methods. Each robot samples a belief"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.10544","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}