A Comparison of Task Driven and Information Driven Sensor Management for Target Tracking

Abstract

Several authors have proposed sensor scheduling methods that are driven by information theoretic measures. In the information driven approach, the relative merit of different sensing actions is measured by the corresponding expected gain in information. Information driven approaches stand in stark contrast to task driven methods, i.e., methods that select some physical performance criteria and explicitly manage the sensor based on that criteria. This paper investigates the difference between a particular information driven approach, one that maximizes an alpha-Rényi measure of information gain, and task driven methods with a combination of theory and simulation. First, we give a mathematical relation that shows that when the decision error depends only weakly on the target state a certain type of marginalized information gain is a close approximation to the Bayes risk associated with performing a specific task. Second, we perform an empirical comparison between information driven and task driven approaches that maximize information gain or minimize risk, respectively. In particular, we give a task driven method that uses the sensor in a manner that is expected to maximize the probability the target is correctly located after the next measurement. We find as expected that the task driven method outperforms the information driven method when the performance is measured by risk, i.e., probability of localization error. However, the performance difference between the two methods is very small, suggesting that the information gain is a good surrogate for risk for this application.