On Distance Utility in the Exploration Task
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00189253" target="_blank" >RIV/68407700:21230/11:00189253 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980221&tag=1" target="_blank" >http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980221&tag=1</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2011.5980221" target="_blank" >10.1109/ICRA.2011.5980221</a>
Alternative languages
Result language
angličtina
Original language name
On Distance Utility in the Exploration Task
Original language description
Performance of exploration strategies strongly depends on the process of determination of a~next robot goal. Current approaches define different utility functions how to evaluate and select possible next goal candidates. One of the mostly used evaluationcriteria is the distance cost that prefers candidates close to the current robot position. If this is the only criterion, simply the nearest candidate is chosen as the next goal. Although this criterion is simple to implement and gives feasible resultsthere are situations where the criterion leads to wrong decisions. This paper presents the distance cost that reflects traveling through all goal candidates. The cost is determined as a~solution of the Traveling Salesman Problem using the Chained Lin-Kernighan heuristic. % to find a near optimal solution. The cost can be used as a~stand-alone criterion as well as it can be integrated into complex decision systems. Experimental results for open-space and office-like experiments show that
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
ISBN
978-1-61284-386-5
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
4455-4460
Publisher name
Omnipress
Place of publication
Madison
Event location
Shanghai
Event date
May 9, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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