Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning
Hyeongyeol Ryu,Minsung Yoon,Daehyung Park,Sung-Eui Yoon,Hyeongyeol Ryu,Minsung Yoon,Daehyung Park,Sung-Eui Yoon
This paper considers the problem of prolonged occlusions on navigation sensors due to dust, smudges, soils, etc. Such uncontrollable occlusions often cause lower visibility as well as higher uncertainty that require considerably sophisticated behavior. To secure visibility (i.e., confidence about the world), we propose a confidence-based navigation method that encourages the robot to explore the u...
