Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs
Fanfei Chen,John D. Martin,Yewei Huang,Jinkun Wang,Brendan Englot,Fanfei Chen,John D. Martin,Yewei Huang,Jinkun Wang,Brendan Englot
We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb localization uncertainty and achieve information gain. For this problem, belief space planning methods that forward- simulate robot sensing and estimation may of...
