A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing.

Mihaylova, L and Lefebvre, T and Bryunincks, H and De Schutter, J (2003) A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing. First European Symposium on Ambient Intelligence, Lecture Notes in Computer Science, 2542. pp. 316-324. ISSN 0302-9743

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Official URL: http://dx.doi.org/10.1007/3-540-36487-0_35

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:	Article
Journal or Publication Title:	First European Symposium on Ambient Intelligence, Lecture Notes in Computer Science
Additional Information:	The original publication is available at www.springerlink.com
Uncontrolled Keywords:	active sensing ; decsion making ; intelligent systems ; autonomous robotic systems ; DCS-publications-id ; art-767 ; DCS-publications-credits ; dsp-fa ; DCS-publications-personnel-id ; 121
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?:	Yes
Published?:	Published
Last Modified:	26 Jul 2012 18:42
Identification Number:
URI:	http://eprints.lancs.ac.uk/id/eprint/994

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