This paper addresses the problem of actively controlling robotic teams with range-only sensors to (a) discover and (b) localize an unknown number of devices.We develop separate information based objectives to achieve both goals, and examine ways of combining them into a unified approach. Despite the computational complexity of calculating these policies for multiple robots over long time horizons, a series of approximations enable all calculations to be performed in polynomial time. We demonstrate the tangible benefits of our approaches through a series of simulations in complex indoor environments.
CITATION STYLE
Charrow, B., Michael, N., & Kumar, V. (2015). Active control strategies for discovering and localizing devices with range-only sensors. In Springer Tracts in Advanced Robotics (Vol. 107, pp. 55–71). Springer Verlag. https://doi.org/10.1007/978-3-319-16595-0_4
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