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

Defining problem and model 口 We will be using: EkF to model localization(Extended Kalman Filter) OG to represent map(Occupation Grid) Entropy map(more about this later) Author: Morten Rufus blas April 2004 Defining problem and model A set of possible actions State estimate Info, in state Info. gain in estimate map Composite Utility Select most informative action

Author: Morten Rufus Blas, April 2004 Defining problem and model † We will be using: „ EKF to model localization (Extended Kalman Filter). „ OG to represent map (Occupation Grid). „ Entropy map (more about this later). Author: Morten Rufus Blas, April 2004 State estimate Info. in state estimate Info. gain in map Composite Utility Select most informative action Defining problem and model A set of possible actions

Overview/Agenda /outline 口 Motivation 口 Introduction 口 Related wor D Defining problem and model 口 Solution Minimizing localization error Maximize gain in explored map Combined Information utilities Integrated Adaptive Information-based Exploration Algorithm 口Resu|t 口Conc| usion Problems Extensions Author: Morten Rufus blas April 2004 Solution Minimizing localization error a Localization is linked to two uncertainties. Measurement, And navigational uncertainty a Adaptively choose actions to maximize information about ■ Robot position Feature positions(the map)

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 Solution: Minimizing localization error † Localization is linked to two uncertainties: „ Measurement, „ And navigational uncertainty. † Adaptively choose actions to maximize information about: „ Robot position. „ Feature positions (the map)