A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing
作者： Lyudmila Mihaylova , Tine Lefebvre , Herman Bruyninckx , Klaas Gadeyne , Joris De Schutter
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摘要: This work presents a comparison of decision making criteria and optimization methods for active sensing in robotics. Active incorporates the following aspects: (i) where to position sensors, (ii) how make decisions next actions, order maximize information gain minimize costs. We concentrate on second aspect: "Where should robot move at time step?". Pros cons most often used statistical strategies are discussed. Simulation results from new multisine approach nonholonomic mobile given.
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