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

[img]
Preview
PDF (nma2002.pdf)
nma2002.pdf

Download (1MB)

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: /dk/atira/pure/researchoutput/libraryofcongress/qa75
Subjects:
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: 21 Aug 2019 23:47
URI: https://eprints.lancs.ac.uk/id/eprint/994

Actions (login required)

View Item View Item