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

Research output: Contribution in Book/Report/ProceedingsChapter


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
Number of pages9
ISBN (Electronic)9783540364870
ISBN (Print)9783540006084
Original languageEnglish

Publication series

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


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