Exploration problem
In
Overview
The exploration problem naturally arises in situations in which a robot is utilized to survey an area that is dangerous or inaccessible for humans. The field of robotic explorations draws from various fields of
The earliest work in robotic exploration was done in the context of simple finite state automata known as bandits, where algorithms were designed to distinguish and map different states in a
Information gain
The key concept in the exploration problem is the notion of information gain, that is, the amount of knowledge acquired while pushing the frontiers. A probabilistic measure of information gain is defined by the entropy
The function is maximized if p is a uniform distribution and minimized when p is a point mass distribution. By minimizing the expected entropy of belief, information gain is maximized as
See also
References
- ISBN 978-0-262-20162-9.
- S2CID 9772668.
- S2CID 251171926.
- .