Exploration-Exploitation Tradeoff in the Adaptive Information Sampling of Unknown Spatial Fields with Mobile Robots.

ABSTRACT: Adaptive information-sampling approaches enable efficient selection of mobile robots' waypoints through which the accurate sensing and mapping of a physical process, such as the radiation or field intensity, can be obtained. A key parameter in the informative sampling objective function could be optimized balance the need to explore new information where the uncertainty is very high and to exploit the data sampled so far, with which a great deal of the underlying spatial fields can be obtained, such as the source locations or modalities of the physical process. However, works in the literature have either assumed the robot's energy is unconstrained or used a homogeneous availability of energy capacity among different robots. Therefore, this paper analyzes the impact of the adaptive informa

SUBMITTER: Munir A 

PROVIDER: S-EPMC10708738 | biostudies-literature | 2023 Dec

REPOSITORIES: biostudies-literature