├── Data ├── data_firstsimever │ ├── GMM1comp.mat │ ├── Info.mat │ ├── Info2.mat │ ├── Info3.mat │ ├── InfoFilter.mat │ ├── InfoFilterMULTItarget.mat │ ├── MoveTargetInfo.mat │ ├── UAV_movTarg.mat │ ├── UAV_movTarg2.mat │ ├── UAV_movTarg3.mat │ ├── UAV_movTarg4.mat │ └── mov.mat ├── data_naval │ ├── 0_0_1p5708s40s-1s1s8s18s5s0s0.mat │ ├── EgNaval.mat │ ├── Sim1Data.mat │ ├── SimData_ppt.mat │ ├── Sim_cut8_FixRadar_Comp_1.mat │ ├── Sim_cut8_FixRadar_Comp_2.mat │ ├── Sim_ut_FixRadar_Comp_1.mat │ ├── Sim_ut_FixRadar_Comp_2.mat │ ├── Xtruth.mat │ └── Xtruth2_good.mat └── data_senstask │ ├── 0_0_1p5708s30s-1s1s10s15s5s0s0 (1).mat │ ├── 0_0_1p5708s30s-1s1s10s15s5s4s4 (1).mat │ ├── 0_0_1p5708s35s-1s1s10s15s5s0s0 (1).mat │ ├── 0_0_1p5708s40s-1s1s10s15s5s0s0 (1).mat │ ├── 0_0_1p5708s40s-1s1s10s15s5s4s4 (1).mat │ ├── 0_0_1p5708s40s-1s1s10s15s8s4s4 (1).mat │ ├── 0_0_1p5708s40s-1s1s10s18s5s0s0 (1).mat │ ├── 0_0_1p5708s40s-1s1s10s18s5s1s1 (1).mat │ ├── 0_0_1p5708s40s-1s1s7s15s5s4s4 (1).mat │ ├── 0_0_1p5708s40s-1s1s8s18s5s0s0 (1).mat │ ├── 0_0_1p5708s40s-1s1s8s18s5s1s1 (1).mat │ ├── 0_0_1p5708s40s-1s1s8s18s5s2s2 (1).mat │ ├── 0_0_1p5708s40s-1s1s8s18s5s4s4 (1).mat │ ├── 0_0_1p5708s50s-1s1s10s15s5s0s0 (1).mat │ ├── 0_0_1p5708s50s-1s1s10s15s5s4s4 (1).mat │ ├── 0_0_1p5708s55s-1s1s10s15s5s0s0 (1).mat │ ├── EgNaval.mat │ ├── Sim1Data.mat │ ├── SimData_ppt.mat │ ├── Sim_cut8_FixRadar_Comp_1.mat │ ├── Sim_cut8_FixRadar_Comp_2.mat │ ├── Sim_ut_FixRadar_Comp_1.mat │ ├── Sim_ut_FixRadar_Comp_2.mat │ ├── Xtruth.mat │ ├── Xtruth2_good.mat │ ├── control_UAV (1).mat │ ├── control_UAV.mat │ ├── prior_mixture.mat │ ├── sensorcontrol_FDP_1.mat │ ├── sensorcontrol_FDP_2.mat │ ├── sensorcontrol_FDP_3.mat │ ├── sensorcontrol_FDP_4.mat │ ├── shit_GMM (1).mat │ ├── shit_GMM.mat │ └── test0_0_1p5708s40s-1s1s10s15s5s0s0.mat ├── GMM_example ├── AirTraffic_SensorControl1.m ├── AirTraffic_SensorControl_1rbsens.m ├── ExptKLMeasOPT_gsm.m ├── ExptKLMeasOPT_pf.m ├── ExptKL_modf_MeasOPT_gsm.m ├── GMM_Filt_MOVETarg.m ├── GMM_Filt_statTarg.m ├── InfoOptimalTraj.m ├── InfoOptimalTraj_AGSF.m ├── KL_gmm.m ├── UAVoptimal_control.m ├── UAVoptimal_control_limitedview.m ├── UAVoptimal_control_pdfUPDT.m ├── UAVoptimal_control_pdfUPDT_heading.m ├── UAVoptimal_control_pdfUPDT_heading_MultiTargets.m ├── UAVoptimal_control_pdfUPDT_heading_MultiTargets_AGSF.m ├── UAVoptimal_control_pdfUPDT_heading_MultiTargets_AGSF_sim4.m ├── dubin_DP_GMM.m ├── entropy_gmm.m ├── heading_Angle.m ├── info_control.m ├── info_control_move_targ.m ├── info_map.m ├── max_Info.m ├── post_GMM2_modf_meas.m ├── sensor2penalty.m └── sensor_radial_penalty2.m ├── Gridmotion ├── Generatepaths.m ├── GenrateTreefromGrid.m ├── PrunePaths.m ├── SetupGrid.m ├── UAV_grid_motion.m ├── check_grid_move.m ├── cont_dubin.m ├── dubin_cost.m ├── dubminpaths.m ├── get_side_ind.m ├── get_side_ind2.m ├── grid_design.m ├── gridmove.m ├── gridmove_heading.m ├── template_gen.m └── test_move_targ.m ├── Plotting ├── ds2nfu.m ├── plot_1sig_contour.m ├── plot_1sig_contour_multi.m ├── plot_1sig_ellipse.m ├── plot_2Darc.m ├── plot_UAV_GMM.m ├── plot_UAV_GMM2.m ├── plot_camera_fov.m ├── plot_circle_sensor.m ├── plot_dubinspath.m ├── plot_ellipse_cov.m ├── plot_info.m ├── plot_path_UAV_from_ccr.m ├── plot_pdf.m ├── plot_scene_UAVnaval.m ├── plot_scene_UAVnaval_cont.m ├── plot_scene_UAVnaval_onlygrid.m ├── plot_sens_view.m └── plot_templates.m ├── README.md ├── Sensor_task ├── Dubin_GreedySensor_Exhaustive.m ├── FIMcvxgurobi.m ├── FIMlinear_ovetime_cost.m ├── FixedRadFiltering.m ├── MAIN.m ├── MAIN2.m ├── MI_FDP.m ├── MI_num_dem_poly.m ├── MI_num_dem_poly_det_zver.m ├── MI_num_dem_poly_trace_zver.m ├── MI_num_dem_poly_zver_multi_x.m ├── MI_num_dem_value.m ├── MI_vs_GAUSS_comp.m ├── SimpleSensortask_move.m ├── SimpleSensortask_static.m ├── UAV_traj_pplied_control.m ├── comb_meas_props.m ├── comparingNavalFilters.m ├── dubinFDP_InnerloopParallel.m ├── dubin_DP.m ├── dubin_DP2.m ├── dubin_DP_multiobj.m ├── dubin_FDP.m ├── dubin_FDP_parforver.m ├── dubin_GreedySensor_GreedyTime.m ├── expt_KL_sens.m ├── expt_KL_sens2.m ├── pseudo_meas_contextual.m ├── sensTaskSDP.m ├── senscvx.m └── senstask_paperUAV_egFDP.m ├── confeg.m ├── confeg2.m ├── misc_func ├── GetCellOptions.m ├── MI_gaussians.m ├── collision_penalty.m ├── det_leibniz.m ├── inCircle.m └── sigmaEllipse.m ├── process_meas_models ├── CT_turn_model.m ├── KIRB_CT_eg_dyn_disc.m ├── KIRB_UM_eg_dyn_disc.m ├── KIRB_UM_eg_dyn_disc_manv.m ├── KIRB_UM_eg_dyn_disc_manv_2.m ├── KIRB_UM_eg_dyn_disc_manv_3.m ├── Lpen.m ├── SensorOverlapCost.m ├── TargetPostUpdate.m ├── TargetPostUpdate_pseudo.m ├── TargetPriorProp.m ├── TargetPriorProp_pseudo.m ├── camera_model.m ├── diffdyn.m ├── hxb.m ├── hxr.m ├── hxrb.m ├── hxy.m ├── penaltytesting.m ├── sensor_fov_R.m ├── sensor_limview_penalty.m ├── sensor_radial_penalty.m └── test_range_bearing.m └── sens_task_update.m /Data/data_firstsimever/GMM1comp.mat: 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