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Title: A new gain function for compact exploration
Authors: Senarathne, P. G. C. N.
Wang, Danwei
Wang, Han
Keywords: DRNTU::Engineering::Electrical and electronic engineering
Issue Date: 2012
Source: Senarathne, P. G. C. N., Wang, D., & Wang, H. (2012). A new gain function for compact exploration. 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV), 650-655.
Abstract: Trade-off between the information gain and cost has been extensively used as an evaluation criteria for target points in robot exploration strategies where the primary goal is to reduce the mission time. This article introduces a new gain function that has an integrated cost component that can be used in exploration strategies to map the terrain in a balanced way in all directions to generate compact maps. Article also presents an approach to efficiently calculate the gain values. Simulations in both low and high obstacle density environments for single and multi-robot exploration strategies indicate the utility of the new gain function in generating compact maps.
DOI: 10.1109/ICARCV.2012.6485234
Rights: © 2012 IEEE.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

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