About: On Distance Utility in the Exploration Task

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980221&tag=1
Description	Performance of exploration strategies strongly depends on the process of determination of a~next robot goal. Current approaches define different utility functions how to evaluate and select possible next goal candidates. One of the mostly used evaluation criteria is the distance cost that prefers candidates close to the current robot position. If this is the only criterion, simply the nearest candidate is chosen as the next goal. Although this criterion is simple to implement and gives feasible results there are situations where the criterion leads to wrong decisions. This paper presents the distance cost that reflects traveling through all goal candidates. The cost is determined as a~solution of the Traveling Salesman Problem using the Chained Lin-Kernighan heuristic. % to find a near optimal solution. The cost can be used as a~stand-alone criterion as well as it can be integrated into complex decision systems. Experimental results for open-space and office-like experiments show that the proposed approach outperforms the standard one in the length of the traversed trajectory during the exploration while the computational burden is not significantly increased. Performance of exploration strategies strongly depends on the process of determination of a~next robot goal. Current approaches define different utility functions how to evaluate and select possible next goal candidates. One of the mostly used evaluation criteria is the distance cost that prefers candidates close to the current robot position. If this is the only criterion, simply the nearest candidate is chosen as the next goal. Although this criterion is simple to implement and gives feasible results there are situations where the criterion leads to wrong decisions. This paper presents the distance cost that reflects traveling through all goal candidates. The cost is determined as a~solution of the Traveling Salesman Problem using the Chained Lin-Kernighan heuristic. % to find a near optimal solution. The cost can be used as a~stand-alone criterion as well as it can be integrated into complex decision systems. Experimental results for open-space and office-like experiments show that the proposed approach outperforms the standard one in the length of the traversed trajectory during the exploration while the computational burden is not significantly increased. (en)
Title	On Distance Utility in the Exploration Task On Distance Utility in the Exploration Task (en)
skos:prefLabel	On Distance Utility in the Exploration Task On Distance Utility in the Exploration Task (en)
skos:notation	RIV/68407700:21230/11:00189253!RIV12-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	Z
http://linked.open...avai/riv/aktivity	Z(MSM6840770038)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Kulich, Miroslav Přeučil, Libor Faigl, Jan
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	218002
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00189253
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Mobile Robot; Exploration; Travelling Salesman Problem; Chained Lin-Kernighan Heuristics (en)
http://linked.open.../riv/klicoveSlovo	Chained Lin-Kernighan Heuristics Exploration Travelling Salesman Problem Mobile Robot
http://linked.open...ontrolniKodProRIV	[B3FEFC183AB2]
http://linked.open...v/mistoKonaniAkce	Shanghai
http://linked.open...i/riv/mistoVydani	Madison
http://linked.open...i/riv/nazevZdroje	ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Faigl, Jan Kulich, Miroslav Přeučil, Libor
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2011-05-09 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Decision Making and Control for Manufacturing III
issn	1050-4729
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ICRA.2011.5980221
http://purl.org/ne...btex#hasPublisher	Omnipress
https://schema.org/isbn	978-1-61284-386-5
http://localhost/t...ganizacniJednotka	21230
is http://linked.open...avai/riv/vysledek of	On Distance Utility in the Exploration Task On Distance Utility in the Exploration Task

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