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A multisine approach for trajectory optimization based on information gain.

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A multisine approach for trajectory optimization based on information gain. / Mihaylova, L; De Schutter, J; Bruyninckx, H.

In: Robotics and Autonomous Systems, Vol. 43, No. 4, 06.2003, p. 231-243.

Research output: Contribution to Journal/MagazineJournal articlepeer-review

Harvard

Mihaylova, L, De Schutter, J & Bruyninckx, H 2003, 'A multisine approach for trajectory optimization based on information gain.', Robotics and Autonomous Systems, vol. 43, no. 4, pp. 231-243. https://doi.org/10.1016/S0921-8890(03)00036-8

APA

Mihaylova, L., De Schutter, J., & Bruyninckx, H. (2003). A multisine approach for trajectory optimization based on information gain. Robotics and Autonomous Systems, 43(4), 231-243. https://doi.org/10.1016/S0921-8890(03)00036-8

Vancouver

Mihaylova L, De Schutter J, Bruyninckx H. A multisine approach for trajectory optimization based on information gain. Robotics and Autonomous Systems. 2003 Jun;43(4):231-243. https://doi.org/10.1016/S0921-8890(03)00036-8

Author

Mihaylova, L ; De Schutter, J ; Bruyninckx, H. / A multisine approach for trajectory optimization based on information gain. In: Robotics and Autonomous Systems. 2003 ; Vol. 43, No. 4. pp. 231-243.

Bibtex

@article{83c881df22914c209226a90b401300e8,
title = "A multisine approach for trajectory optimization based on information gain.",
abstract = "This paper presents amultisine approach for trajectory optimization based on information gain, with distance and orientation sensing to knownbeacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor information. The optimal trajectory is parameterized as a linear combination of sinusoidal functions. Anappropriate optimality criterion is selected which takes into account various requirements (such as maximum accuracy and minimum time). Several constraints can be formulated, e.g. with respect to collision avoidance. The optimal trajectory is then determined by numerical optimization techniques. The approach is applicable to both nonholonomic and holonomic robots. Its effectiveness is illustrated here for a nonholonomic wheeled mobile robot (WMR) in an environment with and without obstacles.",
keywords = "Active sensing, Mobile robots, Uncertainty, Trajectory generation, Information gain, DCS-publications-id, art-754, DCS-publications-personnel-id, 121",
author = "L Mihaylova and {De Schutter}, J and H Bruyninckx",
note = "The final, definitive version of this article has been published in the Journal, Robotics and Autonomous Systems, 43 (4), 2003, {\textcopyright} ELSEVIER.",
year = "2003",
month = jun,
doi = "10.1016/S0921-8890(03)00036-8",
language = "English",
volume = "43",
pages = "231--243",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
number = "4",

}

RIS

TY - JOUR

T1 - A multisine approach for trajectory optimization based on information gain.

AU - Mihaylova, L

AU - De Schutter, J

AU - Bruyninckx, H

N1 - The final, definitive version of this article has been published in the Journal, Robotics and Autonomous Systems, 43 (4), 2003, © ELSEVIER.

PY - 2003/6

Y1 - 2003/6

N2 - This paper presents amultisine approach for trajectory optimization based on information gain, with distance and orientation sensing to knownbeacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor information. The optimal trajectory is parameterized as a linear combination of sinusoidal functions. Anappropriate optimality criterion is selected which takes into account various requirements (such as maximum accuracy and minimum time). Several constraints can be formulated, e.g. with respect to collision avoidance. The optimal trajectory is then determined by numerical optimization techniques. The approach is applicable to both nonholonomic and holonomic robots. Its effectiveness is illustrated here for a nonholonomic wheeled mobile robot (WMR) in an environment with and without obstacles.

AB - This paper presents amultisine approach for trajectory optimization based on information gain, with distance and orientation sensing to knownbeacons. It addresses the problem of active sensing, i.e. the selection of a robot motion or sequence of motions, which make the robot arrive in its desired goal configuration (position and orientation) with maximum accuracy, given the available sensor information. The optimal trajectory is parameterized as a linear combination of sinusoidal functions. Anappropriate optimality criterion is selected which takes into account various requirements (such as maximum accuracy and minimum time). Several constraints can be formulated, e.g. with respect to collision avoidance. The optimal trajectory is then determined by numerical optimization techniques. The approach is applicable to both nonholonomic and holonomic robots. Its effectiveness is illustrated here for a nonholonomic wheeled mobile robot (WMR) in an environment with and without obstacles.

KW - Active sensing

KW - Mobile robots

KW - Uncertainty

KW - Trajectory generation

KW - Information gain

KW - DCS-publications-id

KW - art-754

KW - DCS-publications-personnel-id

KW - 121

U2 - 10.1016/S0921-8890(03)00036-8

DO - 10.1016/S0921-8890(03)00036-8

M3 - Journal article

VL - 43

SP - 231

EP - 243

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 4

ER -