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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.
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.
@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
beneï¬ts of our heuristics over existing work, and demonstrate the generality of the SN framework.
},
wwwnote = {},
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OPTvolume = {},
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OPTseries = {},
OPTaddress = {},
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OPTpublisher = {},
OPTnote = {},
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}
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