Task-Oriented Active Sensing via Action Entropy Minimization

Abstract

In active sensing, sensing actions are typically chosen to minimize the uncertainty of the state according to some information-theoretic measure such as entropy, conditional entropy, mutual information, etc. This is reasonable for applications where the goal is to obtain information. However, when the information about the state is used to perform a task, minimizing state uncertainty may not lead to sensing actions that provide the information that is most useful to the task. This is because the uncertainty in some subspace of the state space could have more impact on the performance of the task than others, and this dependence can vary at different stages of the task. One way to combine task, uncertainty, and sensing, is to model the problem as a sequential decision making problem under uncertainty. Unfortunately, the solutions to these problems are computationally expensive. This paper presents a new task-oriented active sensing scheme, where the task is taken into account in sensing action selection by choosing sensing actions that minimize the uncertainty in future task-related actions instead of state uncertainty. The proposed method is validated via simulations.