Gal A. Kaminka's Publications

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A Fresh Look at Sensor-Based Navigation, Navigation with Sensing Costs

Zahy Bnaya, Ariel Felner, Solomon Eyal Shimony, Gal A. Kaminka, and Efi Merdler. A Fresh Look at Sensor-Based Navigation, Navigation with Sensing Costs. In Proceedings of the First International Symposium on Search Techniques in Artificial Intelligence and Robotics , 2008.

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Abstract

Most work on navigation minimize travel effort or computational effort of the navigating agent, while assuming that unknown components of the environment are sensed by the agent at no cost. We introduce a framework for navigation where the agent needs to minimize a global cost function which includes both the travel cost and the sensing cost. At each point in time, the agent needs to decide whether to perform sense queries or to move towards the target. We develop the SN (Sensing-based Navigation) framework that utilizes heuristic functions to determine when and where to sense the environment in order to minimize total costs. We develop several such heuristics, based on the expected total cost. Experimental results show the beneļ¬ts of our heuristics over existing work, and demonstrate the generality of the SN framework.

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BibTeX

@InProceedings{stair08, 
  author = 	 {Zahy Bnaya and Ariel Felner and Solomon Eyal Shimony and Gal A. Kaminka and Efi Merdler}, 
  title = 	 {A Fresh Look at Sensor-Based Navigation, Navigation with Sensing Costs}, 
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  booktitle = {Proceedings of the First International Symposium on Search Techniques in Artificial Intelligence and Robotics }, 
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  year = 	 {2008}, 
  abstract = { Most work on navigation minimize travel effort or computational effort
    of the navigating agent, while assuming that unknown components of the environment are 
    sensed by the agent at no cost. We introduce a framework for navigation where the 
    agent needs to minimize a global cost function which includes both the travel cost 
    and the sensing cost. At each point in time, the agent needs to decide whether to 
    perform sense queries or to move towards the target. We develop the SN (Sensing-based 
    Navigation) framework that utilizes heuristic functions to determine when and where 
    to sense the environment in order to minimize total costs. We develop several 
    such heuristics, based on the expected total cost. Experimental results show the 
    benefits of our heuristics over existing work, and demonstrate the generality of the SN framework.
 }, 
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} 

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