Long-horizon Robotic Search and Classification using Sampling-based Motion Planning

Geoffrey Hollinger
2015 Robotics: Science and Systems XI  
This paper presents the Rapidly-exploring Adaptive Search and Classification (ReASC) algorithm, a sampling-based algorithm for planning the trajectories of mobile robots performing real-time target search and classification tasks in the field. The proposed algorithm incrementally builds up a tree of solutions and evaluates the utility of each solution for identifying targets in an environment. An optimistic approximation for the classification utility is used, which reduces the computational
more » ... t of evaluating trajectories and makes real-time adaptive planning feasible. The proposed algorithm is tested on an autonomous aquatic vehicle and are shown to outperform myopic methods by up to 36% in a lake monitoring scenario.
doi:10.15607/rss.2015.xi.010 dblp:conf/rss/Hollinger15 fatcat:5vma765mznew3bk35cfuk6kfmy