Abstract-Exploration strategies are used to guide mobile robots in building maps of environments. Usually, exploration strategies work greedily by evaluating a number of candidate observation positions on the basis of a utility function and selecting the best one. The utility functions are defined in an ad hoc manner as the composition of values measuring different features of a candidate observation position, such as the travelling cost and the estimated information gain. In this paper, we propose a more general way to define an exploration strategy through multi-objective optimization. In our approach, the values of the features are kept separated without combining them in a particular utility function. Experimental results demonstrate the effectiveness of our method.
A different approach has been adopted in REF , where the values of the evaluation function of each goal are kept separated without combining them in a particular utility function.
A Multi-Objective Exploration Strategy for Mobile Robots
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Engineering Computer Science