NDLI: A Multi-Objective Exploration Strategy for Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Amigoni, F. Gallo, A.
Copyright Year	2005
Description	Author affiliation: Dipartimento di Elettronica e Informazione Politecnico di Milano Piazza Leonardo da Vinci 32, 20133 Milano, Italy; amigoni@elet.polimi.it (Amigoni, F.)
Abstract	Exploration strategies are used to guide mobile robots in building maps of environments. Usually, exploration strategies work greedily by evaluating a number of candidate observation positions on the basis of a utility function and selecting the best one. The utility functions are defined in an ad hoc manner as the compositionof values measuring different features of a candidate observation position, such as the travelling cost and the estimated information gain. In this paper, we propose a more general way to define an exploration strategy through multi-objective optimization. In our approach, the values of the features are kept separated without combining them in a particular utility function. Experimental results demonstrate the effectiveness of our method.
Starting Page	3850
Ending Page	3855
File Size	154104
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570708
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Position measurement Gain measurement Cost function Multirobot systems Image segmentation Image sensors Robot vision systems Cameras Multi-objective optimization Exploration strategies Robot mapping
Content Type	Text
Resource Type	Article

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