3D Map Exploration via Learning Submodular Functions in the Fourier Domain

Bing Xian Lu, Kuo Shih Tseng

研究成果: 書貢獻/報告類型會議論文篇章同行評審

6 引文 斯高帕斯(Scopus)

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???
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 20204 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
國家/地區Greece
城市Athens
期間1/09/204/09/20

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