Concurrent Path and Sensor Planning for a UAV - Towards an Information Based Approach Incorporating Models of Environment and Sensor

In this paper we propose a framework for autonomous path and sensor planning of a UAV performing a surveillance and exploration mission. Concurrent path and sensor planning is a very challenging problem, since realistic models of platforms, sensors and environment are very complex and inherently non-linear. Our approach is one attempt to address these issues and formulate an optimization problem using tools from information theory