Posts tagged Wennie Tabib
Efficient Multi-Sensor Exploration Using Dependent Observations and Conditional Mutual Information

This paper presents a method to leverage conditionally dependent sensor observations for multi-modal exploration. A robot equipped with multiple sensors and potentially non-overlapping fields of view selects actions that drive the system to collect observations of occupied regions. The result is better coverage of the environment with the additional, dependent modality.

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Computationally Efficient Information-Theoretic Exploration of Pits and Caves

This paper presents a method to enable exploration in significantly three-dimensional and complex subterranean environments such as caves. A simulated aerial system maximizes information-theoretic measures to maximize coverage of the environment. Information-theoretic measures are also used to compress the environment representation and enable faster exploration performance.

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