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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F11%3A00189253%21RIV12-MSM-21230___
rdf:type
skos:Concept n12:Vysledek
rdfs:seeAlso
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5980221&tag=1
dcterms: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.
dcterms:title
On Distance Utility in the Exploration Task On Distance Utility in the Exploration Task
skos:prefLabel
On Distance Utility in the Exploration Task On Distance Utility in the Exploration Task
skos:notation
RIV/68407700:21230/11:00189253!RIV12-MSM-21230___
n12:predkladatel
n13:orjk%3A21230
n3:aktivita
n10:Z
n3:aktivity
Z(MSM6840770038)
n3:dodaniDat
n9:2012
n3:domaciTvurceVysledku
n11:3276155 n11:1402463 n11:7341520
n3:druhVysledku
n22:D
n3:duvernostUdaju
n14:S
n3:entitaPredkladatele
n7:predkladatel
n3:idSjednocenehoVysledku
218002
n3:idVysledku
RIV/68407700:21230/11:00189253
n3:jazykVysledku
n24:eng
n3:klicovaSlova
Mobile Robot; Exploration; Travelling Salesman Problem; Chained Lin-Kernighan Heuristics
n3:klicoveSlovo
n6:Chained%20Lin-Kernighan%20Heuristics n6:Exploration n6:Mobile%20Robot n6:Travelling%20Salesman%20Problem
n3:kontrolniKodProRIV
[B3FEFC183AB2]
n3:mistoKonaniAkce
Shanghai
n3:mistoVydani
Madison
n3:nazevZdroje
ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
n3:obor
n17:JC
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
3
n3:rokUplatneniVysledku
n9:2011
n3:tvurceVysledku
Přeučil, Libor Kulich, Miroslav Faigl, Jan
n3:typAkce
n21:WRD
n3:zahajeniAkce
2011-05-09+02:00
n3:zamer
n18:MSM6840770038
s:issn
1050-4729
s:numberOfPages
6
n19:doi
10.1109/ICRA.2011.5980221
n23:hasPublisher
Omnipress
n16:isbn
978-1-61284-386-5
n20:organizacniJednotka
21230