Simulation-Based Goal-Selection for Autonomous Exploration

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00225215" target="_blank" >RIV/68407700:21230/14:00225215 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Simulation-Based Goal-Selection for Autonomous Exploration
Original language description
High-level planning can be defined as the process of selection of an appropriate solution from a set of possible candidates. This process typically evaluates each candidate according to some reward function consisting of (1) cost, i.e., effort needed toaccomplish the candidate and (2) the utility of accomplishing it and then selects the best one according to this evaluation.The key problem lies in the fact that the reward function can be rarely evaluated precisely. At the example of the problem of exploration of an unknown environment by a modular robot we show that precise simulation-based estimation of the cost function leads to better decisions of high-level planning and thus improves exploration process performance. State-of-the-art techniques compute the cost function in goal-selection as a length of the path from the current robot position to a goal-candidate. This is sufficient for robots with simple kinematics for which time to reach a candidate highly correlates with a path l
Czech name
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Czech description
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Project
<a href="/en/project/TE01020197" target="_blank" >TE01020197: Centre for Applied Cybernetics 3</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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