On Distance Utility in the Exploration Task

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

On Distance Utility in the Exploration Task

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

On Distance Utility in the Exploration Task

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2011

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation

ISBN

978-1-61284-386-5

ISSN

1050-4729

e-ISSN

—

Počet stran výsledku

6

Strana od-do

4455-4460

Název nakladatele

Omnipress

Místo vydání

Madison

Místo konání akce

Shanghai

Datum konání akce

9. 5. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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