Enough is Enough: Towards Autonomous Uncertainty-driven Stopping Criteria

Placed, Julio A. (Universidad de Zaragoza) ; Castellanos, José A. (Universidad de Zaragoza)

Resumen: Autonomous robotic exploration has long attracted the attention of the robotics community and is a topic of high relevance. Deploying such systems in the real world, however, is still far from being a reality. In part, it can be attributed to the fact that most research is directed towards improving existing algorithms and testing novel formulations in simulation environments rather than addressing practical issues of real-world scenarios. This is the case of the fundamental problem of autonomously deciding when exploration has to be terminated or changed (stopping criteria), which has not received any attention recently. In this paper, we discuss the importance of using appropriate stopping criteria and analyse the behaviour of a novel criterion based on the evolution of optimality criteria in active graph-SLAM.

Idioma: Inglés

DOI: 10.1016/j.ifacol.2022.07.594

Año: 2022

Publicado en: IFAC PAPERSONLINE 55, 14 (2022), 126-132
ISSN: 2405-8963

Factor impacto SCIMAGO: 0.354 - Control and Systems Engineering

Financiación: info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/PID2019-108398GB-I00

Tipo y forma: Artículo (Versión definitiva)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)