Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories
Shumon Koga,Arash Asgharivaskasi,Nikolay Atanasov,Shumon Koga,Arash Asgharivaskasi,Nikolay Atanasov
This paper develops iterative Covariance Regulation (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem is posed as optimal control over the SE(3) pose kinematics of the robot to minimize the differential entropy of the map conditioned the potential sensor observations. We introduce a differentiable field of view formulation, and ...
