Exploration problem
Encyclopedia
In robotics
, the exploration problem deals with the use of a robot
to maximize the knowledge
over a particular area. The exploration problem arises in mapping and search & rescue situations, where an environment might be dangerous or inaccessible to humans.
, and have been studied as far back as the 1950s.
The earliest work in robotic exploration was done in the context of simple finite state automata known as bandits, where algorithms were designed to distinguish and map different states in a finite state automaton. Since then, the primary emphasis has been shifted to the robotics system development domain, where exploration-algorithms guided robot have been used to survey volcanos, search and rescue, and abandoned mines mapping. Current state of the art system include advanced techniques on active localization, simultaneous localization and mapping
(SLAM) based exploration, and multi-agent cooperative exploration.
The function
is maximized if p is a uniform distribution and minimized when p is a point mass distribution. By minimizing the expected entropy of belief, information gain is maximized as
Robotics
Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots...
, the exploration problem deals with the use of a robot
Robot
A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semi-autonomous or...
to maximize the knowledge
Knowledge
Knowledge is a familiarity with someone or something unknown, which can include information, facts, descriptions, or skills acquired through experience or education. It can refer to the theoretical or practical understanding of a subject...
over a particular area. The exploration problem arises in mapping and search & rescue situations, where an environment might be dangerous or inaccessible to humans.
Overview
The exploration problem naturally arises in situations in which a robot is utilized to survey an area that is dangerous or inaccessible for humans. The field of robotic explorations draws from various fields of information gathering and decision theoryDecision theory
Decision theory in economics, psychology, philosophy, mathematics, and statistics is concerned with identifying the values, uncertainties and other issues relevant in a given decision, its rationality, and the resulting optimal decision...
, and have been studied as far back as the 1950s.
The earliest work in robotic exploration was done in the context of simple finite state automata known as bandits, where algorithms were designed to distinguish and map different states in a finite state automaton. Since then, the primary emphasis has been shifted to the robotics system development domain, where exploration-algorithms guided robot have been used to survey volcanos, search and rescue, and abandoned mines mapping. Current state of the art system include advanced techniques on active localization, simultaneous localization and mapping
Simultaneous localization and mapping
Simultaneous localization and mapping is a technique used by robots and autonomous vehicles to build up a map within an unknown environment , or to update a map within a known environment , while at the same time keeping track of their current location.- Operational definition :Maps are used...
(SLAM) based exploration, and multi-agent cooperative exploration.
Information gain
The key concept in the exploration problem is the notion of information gain, that is, the amount of knowledge acquired while pushing the frontiers. A probabilistic measure of information gain is defined by the entropy
The function
is maximized if p is a uniform distribution and minimized when p is a point mass distribution. By minimizing the expected entropy of belief, information gain is maximized as