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This paper considers trajectory planning problems for autonomous robots in information gathering tasks. The objective of the planning is to maximize the information gathered within a finite time horizon. It is assumed that either the Extended Kalman Filter (EKF) or the Extended Information Filter (EIF) is applied to estimate the features of interest and the(More)
– Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem.(More)
This paper provides a solution to the optimal trajectory planning problem in target localisation for multiple heterogeneous robots with bearing-only sensors. The objective here is to find robot trajectories that maximise the accuracy of the locations of the targets at a prescribed terminal time. The trajectory planning is formulated as an optimal control(More)
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents(More)
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