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Exploration Strategies based on Multi-Criteria Decision Making for an Autonomous Mobile Robot
 

Summary: 1
Exploration Strategies based on Multi-Criteria
Decision Making for an Autonomous Mobile Robot
Nicola Basilico Francesco Amigoni
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Milano, Italy
Abstract-- In robotic mapping, a mobile robot builds a spatial
representation of the environment by means of a sequence of
sensing actions. Exploration strategies determine the locations
where an autonomous robot takes such observations. These
locations are usually selected by evaluating a number of candidate
locations according to different criteria. In this paper we propose
a technique to combine criteria based on Multi-Criteria Decision
Making, in order to account for their mutual dependence. Our
approach is independent of the nature and the number of the
criteria considered. Experimental results show that our approach
can be used to derive effective exploration strategies.
Index Terms-- Robotic mapping, exploration strategies, Multi-
Criteria Decision Making.
I. INTRODUCTION
Robotic mapping [19] deals with the construction of spatial

  

Source: Amigoni, Francesco - Dipartimento di Elettronica e Informazione, Politecnico di Milano

 

Collections: Computer Technologies and Information Sciences