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:
/dk/atira/pure/researchoutput/libraryofcongress/qa75
Subjects:
ID Code:
994
Deposited By:
Deposited On:
21 Jan 2008 14:23
Refereed?:
No
Published?:
Published
Last Modified:
26 Nov 2020 09:08