Active Sensing for Robotics – A Survey

A Block-Wise random sampling approach: Compressed sensing problem

The focus of this paper is to consider the compressed sensing problem. It is stated that the compressed sensing theory, under certain conditions, helps relax the Nyquist sampling theory and takes smaller samples. One of the important tasks in this theory is to carefully design measurement matrix (sampling operator). Most existing methods in the literature attempt to optimize a randomly initiali...

Integration of active and passive sensing techniques for representing three-dimensional objects

Active Electrolocation for Underwater Target Localization

We explore the capabilities of a robotic sensing system designed to locate objects underwater through active movement of an electric field emitter and sensor apparatus. The system is inspired by the biological phenomenon of active electrolocation, a sensing strategy found in two groups of freshwater fishes known to emit weak electric fields for target localization and communication. An analytic...

A Comparison of Decision Making Criteria and Optimization Methods for Active Robotic Sensing

This work presents a comparison of decision making criteria and optimization methods for active sensing in robotics. Active sensing 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?”. ...

Active vision in robotic systems: A survey of recent developments

In this paper we provide a broad survey of developments in active vision in robotic applications over the last 15 years. With increasing demand for robotic automation, research in this area has received much attention. Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the operating environment is a crucial co...