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Building a Curious Robot for Mapping
| Content Provider | Semantic Scholar |
|---|---|
| Author | Lehnert, Lucas |
| Copyright Year | 2014 |
| Abstract | Curiosity towards exploring new objects in one’s environment is a key driver of intelligent agents. We explore the problem of mapping in environments which are non-stationary, and where areas may exhibit different change patterns. This is an important challenge for potential “domestic” robots, which would have to perform tasks in houses. We propose a computational approach to building a curious agent which constructs a map of its environment and estimates how often a specific location in this map is changing. Using these estimates, the agent will actively try to reach rapidly changing areas more often than static areas. As a result, the behavior becomes more focused towards learning about significant changes in the environment. We present experiments in a robotic navigation framework implemented using ROS. The results show the utility of this framework for map acquisition and maintenance. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.ias.informatik.tu-darmstadt.de/uploads/ALR2014/Lehnert_ALR2014.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
