Sensor Planning with Non-linear Utility Functions

Sensor planning is concerned with when to sense and what to sense We study sensor planning in the context of planning objectives that trade o between minimizing the worst case expected and best case plan execution costs Sensor planning with these planning objectives is interesting because they are realistic and the frequency of sensing changes with the plan ning objective more pessimistic decision makers tend to sense more frequently We perform sensor planning by combining one of our techniques for planning with non linear utility functions with an existing sensor planning method The resulting sensor planning method is not only as easy to implement as the sensor planning method that it extends but also almost as e cient We demonstrate empirically how sensor plans change as the planning objective changes using a common testbed for sensor planning