Luca Valente

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—We tackle the problem of exploring an unknown environment using a range sensor, where most of the uncertainty is due to the presence of opaque objects of unknown and arbitrary geometry, topology and configuration. Information-gathering control aims to minimize the residual uncertainty, resulting in an optimal control problem that is essentially(More)
We address the problem of exploring an unknown environment using a range sensor. In the presence of opaque objects of arbitrary shape and topology, exploration is driven by minimization of residual uncertainty, that is primarily due to lack of visibility. The resulting optimal control is approximated with a computationally efficient heuristic, that is(More)
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