Adaptive sensor position determination for multiple mobile sensors

An apparatus comprising:

• at least one processing device comprising a processor coupled to a memory;
• the at least one processing device being configured to implement the following steps:
• obtaining a spatio-temporal representation of sensor measurements, from a plurality of mobile sensors, wherein the spatio-temporal representation comprises a plurality of layers each corresponding to a different point in time, wherein a given layer comprises a plurality of positions, and wherein each position in the given layer of the spatio-temporal representation corresponds to a possible location for at least one of the plurality of mobile sensors in an environment;
• applying the spatio-temporal representation to an environment state prediction model that generates a prediction of at least one future sensor measurement value for a plurality of positions in the spatio-temporal representation;
• applying the predictions of the at least one future sensor measurement value to a sensor position determination model that determines at least one new position for each of one or more of the plurality of mobile sensors using the predictions;
• and
• initiating a movement of the one or more of the plurality of mobile sensors to the new position.

A non-transitory processor-readable storage medium having stored therein program code of one or more software programs, wherein the program code when executed by at least one processing device causes the at least one processing device to perform the following steps:

• obtaining a spatio-temporal representation of sensor measurements, from a plurality of mobile sensors, wherein the spatio-temporal representation comprises a plurality of layers each corresponding to a different point in time, wherein a given layer comprises a plurality of positions, and wherein each position in the given layer of the spatio-temporal representation corresponds to a possible location for at least one of the plurality of mobile sensors in an environment;
• applying the spatio-temporal representation to an environment state prediction model that generates a prediction of at least one future sensor measurement value for a plurality of positions in the spatio-temporal representation;
• applying the predictions of the at least one future sensor measurement value to a sensor position determination model that determines at least one new position for each of one or more of the plurality of mobile sensors using the predictions;
• and
• initiating a movement of the one or more of the plurality of mobile sensors to the new position.