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A Multi-Objective Exploration Strategy for Mobile Robots Francesco Amigoni and Alessandro Gallo
 

Summary: A Multi-Objective Exploration Strategy for Mobile Robots
Francesco Amigoni and Alessandro Gallo
Dipartimento di Elettronica e Informazione
Politecnico di Milano
Piazza Leonardo da Vinci 32, 20133 Milano, Italy
amigoni@elet.polimi.it, gallo@airlab.elet.polimi.it
Abstract-- Exploration strategies are used to guide mobile
robots in building maps of environments. Usually, exploration
strategies work greedily by evaluating a number of candidate
observation positions on the basis of a utility function and
selecting the best one. The utility functions are defined in
an ad hoc manner as the composition of values measuring
different features of a candidate observation position, such as
the travelling cost and the estimated information gain. In this
paper, we propose a more general way to define an exploration
strategy through multi-objective optimization. In our approach,
the values of the features are kept separated without combining
them in a particular utility function. Experimental results
demonstrate the effectiveness of our method.
Index Terms-- Exploration strategies. Robot mapping. Multi-

  

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

 

Collections: Computer Technologies and Information Sciences