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

Research output: Contribution in Book/Report/ProceedingsChapter

Published

Publication date2003
Host publicationNumerical Methods and Applications: 5th International Conference, NMA 2002 Borovets, Bulgaria, August 20–24, 2002 Revised Papers
EditorsIvan Dimov, Ivan Lirkov, Svetozar Margenov, Zahari Zlatev
Place of publicationBerlin
PublisherSpringer
Pages316-324
Number of pages9
ISBN (Electronic)9783540364870
ISBN (Print)9783540006084
Original languageEnglish

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume2542
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

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.

Bibliographic note

The original publication is available at www.springerlink.com