Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments

  title={Volumetric Objectives for Multi-Robot Exploration of Three-Dimensional Environments},
  author={Micah Corah and Nathan Michael},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  • Micah Corah, Nathan Michael
  • Published 22 March 2021
  • Computer Science
  • 2021 IEEE International Conference on Robotics and Automation (ICRA)
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric objective may reward robots proportionally to the expected volume of unknown space to be observed. We identify connections between existing information-theoretic and coverage objectives in terms of expected coverage, particularly that mutual information without… 

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