Adaptive sampling theory has shown that, with proper assumptions on the signal class, algorithms exist to reconstruct a signal in @math with an optimal number of samples. We generalize this problem to the case of spatial signals, where the sampling cost is a function of both the number of samples taken and the distance traveled during estimation. This is motivated by our work studying regions of low oxygen concentration in the Great Lakes. We show that for one-dimensional threshold classifiers, a tradeoff between the number of samples taken and distance traveled can be achieved using a generalization of binary search, which we refer to as quantile search. We characterize both the estimation error after a fixed number of samples and the distance traveled in the noiseless case, as well as the estimation error in the case of noisy measurements. We illustrate our results in both simulations and experiments and show that our method outperforms existing algorithms in the majority of practical scenarios.
@cite_24: This paper investigates data-adaptive path planning schemes for wireless networks of mobile sensor platforms. We focus on applications of environmental monitoring, in which the goal is to reconstruct a spatial map of environmental factors of interest. Traditional sampling theory deals with data collection processes that are completely independent of the target map to be estimated, aside from possible a priori specifications reflective of assumed properties of the target. We refer to such processes as passive learning methods. Alternatively, one can envision sequential, adaptive data collection procedures that use information gleaned from previous observations to guide the process. We refer to such feedback-driven processes as active learning methods. Active learning is naturally suited to mobile path planning, in which previous samples are used to guide the motion of the mobiles for further sampling. This paper presents some of the most encouraging theoretical results to date that support the effectiveness of active over passive learning, and focuses on new results regarding the capabilities of active learning methods for mobile sensing. Tradeoffs between latency, path lengths, and accuracy are carefully assessed using our theory. Adaptive path planning methods are developed to guide mobiles in order to focus attention in interesting regions of the sensing domain, thus conducting spatial surveys much more rapidly while maintaining the accuracy of the estimated map. The theory and methods are illustrated in the application of water current mapping in a freshwater lake.
@cite_35: 
@cite_25: This paper analyzes the potential advantages and theoretical challenges of "active learning" algorithms. Active learning involves sequential sampling procedures that use information gleaned from previous samples in order to focus the sampling and accelerate the learning process relative to "passive learning" algorithms, which are based on nonadaptive (usually random) samples. There are a number of empirical and theoretical results suggesting that in certain situations active learning can be significantly more effective than passive learning. However, the fact that active learning algorithms are feedback systems makes their theoretical analysis very challenging. This paper aims to shed light on achievable limits in active learning. Using minimax analysis techniques, we study the achievable rates of classification error convergence for broad classes of distributions characterized by decision boundary regularity and noise conditions. The results clearly indicate the conditions under which one can expect significant gains through active learning. Furthermore, we show that the learning rates derived are tight for "boundary fragment" classes in d-dimensional feature spaces when the feature marginal density is bounded from above and below.
More sophisticated active learning algorithms have been widely studied, achieving optimal rates for piecewise constant functions in @cite_25 and for the linear support vector machine in @cite_35 . In both cases, the algorithm begins by uniformly sampling the entire feature space. Again considering the problem of interest, the central basin of Lake Erie has an area of approximately 14,000 km @math , making this approach infeasible. In contrast, the algorithm studied in @cite_25 was used in @cite_24 to measure the hydrodynamics of Lake Wingra in Madison, WI, which has an area of 1.3 km @math .