Topology-Aware Self-Organizing Maps for Robotic Information Gathering
Seth McCammon,Dylan Jones,Geoffrey A. Hollinger,Seth McCammon,Dylan Jones,Geoffrey A. Hollinger
In this paper, we present a novel algorithm for constructing a maximally informative path for a robot in an information gathering task. We use a Self-Organizing Map (SOM) framework to discover important topological features in the information function. Using these features, we identify a set of distinct classes of trajectories, each of which has improved convexity compared with the original functi...
