Active Sensing for Robotics – A Survey
نویسندگان
چکیده
This work surveys the major methods for model-based active sensing in robotics. Active sensing in robotics incorporates the following aspects: (i) where to position sensors, and (ii) how to make decisions for next actions, in order to maximize information gain and minimize costs. We concentrate on the second aspect: “Where should the robot move at the next time step?”. The emphasis here is on Bayesian solutions to this problem. Pros and cons of the major methods are discussed. Special attention is paid to different criteria for decision making.
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