相关论文: Information-Theoretic Approach to Navigation for E…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
In this article, we propose a sampling-based motion planning algorithm equipped with an information-theoretic convergence criterion for incremental informative motion planning. The proposed approach allows dense map representations and…
We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The…
In the past decade, the usage of mobile devices has gone far beyond simple activities like calling and texting. Today, smartphones contain multiple embedded sensors and are able to collect useful sensing data about the user and infer the…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…
At the heart of path-planning methods for autonomous robotic exploration is a heuristic which encourages exploring unknown regions of the environment. Such heuristics are typically computed using frontier-based or information-theoretic…
Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…
Utilizing the capabilities of configurable sensing systems requires addressing difficult information gathering problems. Near-optimal approaches exist for sensing systems without internal states. However, when it comes to optimizing the…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
Active search for recovering objects of interest through online, adaptive decision making with autonomous agents requires trading off exploration of unknown environments with exploitation of prior observations in the search space. Prior…
In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…
We consider the challenging problem of online planning for a team of agents to autonomously search and track a time-varying number of mobile objects under the practical constraint of detection range limited onboard sensors. A standard POMDP…
Scientific discovery can be framed as a thermodynamic process in which an agent invests physical work to acquire information about an environment under a finite work budget. Using established results about the thermodynamics of computing,…
Multi-agent active search requires autonomous agents to choose sensing actions that efficiently locate targets. In a realistic setting, agents also must consider the costs that their decisions incur. Previously proposed active search…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…
The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based heuristics typically evaluate the information gain of a…
In missions constrained by finite resources, efficient data collection is critical. Informative path planning, driven by automated decision-making, optimizes exploration by reducing the costs associated with accurate characterization of a…