FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
Oriana Peltzer,Amanda Bouman,Sung-Kyun Kim,Ransalu Senanayake,Joshua Ott,Harrison Delecki,Mamoru Sobue,Mykel J. Kochenderfer,Mac Schwager,Joel Burdick,Ali-akbar Agha-mohammadi,Oriana Peltzer,Amanda Bouman,Sung-Kyun Kim,Ransalu Senanayake,Joshua Ott,Harrison Delecki,Mamoru Sobue,Mykel J. Kochenderfer,Mac Schwager,Joel Burdick,Ali-akbar Agha-mohammadi
We present a method for autonomous exploration of large-scale unknown environments under mission time con-straints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) - a generalization of the traditional orienteering problem where the assumption of a reliable environmental model no longer holds. The FIG-OP ad-dresses model uncertainty by frontloading expected inf...
