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A comparison of decision making criteria and optimization methods for active robotic sensing

Mihaylova, Lyudmila and Lefebvre, Tine and Bryunincks, Herman and Gadeyne, Klaas and De Schutter, Joris (2003) A comparison of decision making criteria and optimization methods for active robotic sensing. In: Numerical Methods and Applications. Lecture Notes in Computer Science . Springer, Berlin, pp. 316-324. ISBN 9783540006084

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    Abstract

    This work presents a comparison of decision making criteria and optimization methods for active sensing in robotics. Active sensing incorporates the following aspects: (i ) where to position sensors, and (ii ) how to make decisions for next actions, in order to maximize information gain and minimize costs. We concentrate on the second aspect: “Where should the robot move at the next time step?”. Pros and cons of the most often used statistical decision making strategies are discussed. Simulation results from a new multisine approach for active sensing of a nonholonomic mobile robot are given.

    Item Type: Contribution in Book/Report/Proceedings
    Additional Information: The original publication is available at www.springerlink.com
    Uncontrolled Keywords: active sensing ; decsion making ; intelligent systems ; autonomous robotic systems
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Departments: Faculty of Science and Technology > School of Computing & Communications
    ID Code: 994
    Deposited By: Dr L Mihaylov
    Deposited On: 21 Jan 2008 14:23
    Refereed?: No
    Published?: Published
    Last Modified: 22 Oct 2014 10:20
    Identification Number:
    URI: http://eprints.lancs.ac.uk/id/eprint/994

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