每年專案
摘要
3D map exploration is one of key technologies in robotics. However, finding an optimal exploration path is a challenge since the environment is unknown. This research proposed the submodular exploration (SE) algorithm to enable an unmanned aerial vehicle (UAV) to explore 3D environments. The algorithm learns the submodular function in the Fourier domain and reconstructs the submodular function in the spatial domain via the compressed sensing techniques. Since the objective function of spatial exploration is reformulated as a maximizing submodular function with path constraints, greedy algorithms can achieve \frac{1}{2} (1-e-1) of the optimum. Experiments conducted with this algorithm demonstrate that the UAV can explore more voxels in the environments than the benchmark approach.
原文 | ???core.languages.en_GB??? |
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主出版物標題 | 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 |
發行者 | Institute of Electrical and Electronics Engineers Inc. |
頁面 | 1199-1205 |
頁數 | 7 |
ISBN(電子) | 9781728142777 |
DOIs | |
出版狀態 | 已出版 - 9月 2020 |
事件 | 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece 持續時間: 1 9月 2020 → 4 9月 2020 |
出版系列
名字 | 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 |
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???event.eventtypes.event.conference??? | 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 |
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國家/地區 | Greece |
城市 | Athens |
期間 | 1/09/20 → 4/09/20 |
指紋
深入研究「3D Map Exploration via Learning Submodular Functions in the Fourier Domain」主題。共同形成了獨特的指紋。專案
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