《认知机器人》（英文版） Information Based Adaptive Robotic Exploration

Information Based Adaptive Robotic Exploration Presented by morten rufus blas Overview/Agenda/outline 口 Motivation 口 Introduction 口 Related work D Defining problem and mode Solution Minimizing localization error Maximize gain in explored map Combined Information utilities Integrated Adaptive Information-based Exploration Algorithm 口 Results 口Conc| usIon ■ Novelty Problems

Information Based Adaptive Robotic Exploration Presented by Morten Rufus Blas Author: Morten Rufus Blas, April 2004 Overview / Agenda / Outline † Motivation † Introduction † Related work † Defining problem and model † Solution: „ Minimizing localization error „ Maximize gain in explored map „ Combined Information Utilities „ Integrated Adaptive Information-based Exploration Algorithm † Results † Conclusion „ Novelty „ Problems „ Extensions

Overview/Agenda /outline 口 Motivation 口 Introduction 口 Related work D Defining problem and model 口so| ution: Minimizing localization error Comb imize gain in explored map bined Information Utilities Integrated Adaptive Information-based Exploration Algorithm 口Resu|ts 口Conc| usion Problems Extensions Author: Morten Rufus blas April 2004 Motivation 口SLAM: There is little value in a robot exploring and mapping new areas when it has no idea of how accurately it knows its own location Come up with an algorithm to adapt controls to do better exploration Author: Morten rufus blas

Author: Morten Rufus Blas, April 2004 Overview / Agenda / Outline † Motivation † Introduction † Related work † Defining problem and model † Solution: „ Minimizing localization error „ Maximize gain in explored map „ Combined Information Utilities „ Integrated Adaptive Information-based Exploration Algorithm † Results † Conclusion „ Novelty „ Problems „ Extensions Author: Morten Rufus Blas, April 2004 Motivation † SLAM: „ “There is little value in a robot exploring and mapping new areas when it has no idea of how accurately it knows its own location.” „ Come up with an algorithm to adapt controls to do better exploration

Overview/Agenda /outline 口 Motivation 口 Introduction 口 Related work D Defining problem and model 口so| ution: Minimizing localization error Comb imize gain in explored map bined Information Utilities Integrated Adaptive Information-based Exploration Algorithm 口Resu|ts 口Conc| usion Problems Extensions Author: Morten Rufus blas April 2004 Introduction a They attempt to maximize the accuracy and speed of their map building process. O How well does the robot know its pose? a How well have different areas been explored? ■ In this paper: F. Bourgault, A Makarenko, S.B. Williams, B. Grocholsky, H F Durrant-Whyte,"Information Based Adaptive Robotic Exploration", presented at IEEE/RS] Intl Workshop on Intelligent Robots and Systems, 2002 Author: Morten rufus blas

Author: Morten Rufus Blas, April 2004 Overview / Agenda / Outline † Motivation † Introduction † Related work † Defining problem and model † Solution: „ Minimizing localization error „ Maximize gain in explored map „ Combined Information Utilities „ Integrated Adaptive Information-based Exploration Algorithm † Results † Conclusion „ Novelty „ Problems „ Extensions Author: Morten Rufus Blas, April 2004 Introduction † They attempt to maximize the accuracy and speed of their map building process. † How well does the robot know its pose? † How well have different areas been explored? „ In this paper: F. Bourgault, A. Makarenko, S.B. Williams, B. Grocholsky, H.F. Durrant-Whyte, “Information Based Adaptive Robotic Exploration”, presented at IEEE/RSJ Intl. Workshop on Intelligent Robots and Systems, 2002

Overview/Agenda /outline 口 Motivati 口 Introduction 口 Related work D Defining problem and model 口so| ution: Minimizing localization error Comb imize gain in explored map Integrated Adaptive Information-based Exploration Algorithm 口Resu|ts 口Conc| usion Problems Extensions Author: Morten Rufus blas Related work dHS. Feder]]. Leonard and c m Smith. Adaptive mobile robot navigation and mapping Int. Journal of Robotics research, 18(7): 650 668,1999 aTM. Cover and j.a. thomas Elements of information theory. Wiley series in telecommunications. Wiley New york, 1991

Author: Morten Rufus Blas, April 2004 Overview / Agenda / Outline † Motivation † Introduction † Related work † Defining problem and model † Solution: „ Minimizing localization error „ Maximize gain in explored map „ Combined Information Utilities „ Integrated Adaptive Information-based Exploration Algorithm † Results † Conclusion „ Novelty „ Problems „ Extensions Author: Morten Rufus Blas, April 2004 Related work † H.J.S. Feder, J.J. Leonard, and C.M. Smith. Adaptive mobile robot navigation and mapping. Int. Journal of Robotics Research, 18(7):650– 668, 1999. † T.M. Cover and J.A. Thomas. Elements of information theory. Wiley series in telecommunications. Wiley, New York, 1991

Overview/Agenda /outline 口 Motivation 口 Introduction 口 Related work Q Defining problem and model 口so| ution: Minimizing localization error Comb imize gain in explored map bined Information Utilities Integrated Adaptive Information-based Exploration Algorithm 口Resu|ts 口Conc| usion Problems Extensions Author: Morten Rufus blas April 2004 Defining problem and model 口 Problen Optimize control step in order to: D Minimize localization error a Maximize gain in explored map 口Mode|: Solve problem by maximizing information gain

Author: Morten Rufus Blas, April 2004 Overview / Agenda / Outline † Motivation † Introduction † Related work † Defining problem and model † Solution: „ Minimizing localization error „ Maximize gain in explored map „ Combined Information Utilities „ Integrated Adaptive Information-based Exploration Algorithm † Results † Conclusion „ Novelty „ Problems „ Extensions Author: Morten Rufus Blas, April 2004 Defining problem and model † Problem: „ Optimize control step in order to: † Minimize localization error. † Maximize gain in explored map. † Model: „ Solve problem by maximizing information gain