Anytime Planning of Optimal Schedules for a Mobile Sensing Robot JINGJIN YU JAVED ASLAM SERTAC KARAMAN DANIELA RUS SPEAKER: SANKALP ARORA Overview Problem Statement Formalization Mixed Integer Programming MIP Formulation Results Solving MIPS Branch and Bound Schedules for Exploration Approaches Greedy Rapidly Exploring Information Gain Divide and Conquer Mixed Integer Programming Formalization Mixed Integer Programming Maximize a reward function, given some linear constraints on integer variables. All inputs are integer Standardized solvers Branch and Bound Forming MIP Solving Branch and Bound