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Bridging the Robot Perception Gap with Mid-Level Vision Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Small and Adrift with Self-Control: Using the Environment to Improve Autonomy

Authors : M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Christoffer R. Heckman, Eric Forgoston, Ira B. Schwartz, Philip A. Yecko

Published in: Robotics Research

Publisher: Springer International Publishing

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Abstract

We present information theoretic search strategies for single and multi-robot teams to localize the source of a chemical spill in turbulent flows. In this work, robots rely on sporadic and intermittent sensor readings to synthesize information maximizing exploration strategies. Using the spatial distribution of the sensor readings, robots construct a belief distribution for the source location. Motion strategies are designed to maximize the change in entropy of this belief distribution. In addition, we show how a geophysical description of the environmental dynamics can improve existing motion control strategies. This is especially true when process and vehicle dynamics are intricately coupled with the environmental dynamics. We conclude with a summary of current efforts in robotic tracking of coherent structures in geophysical flows. Since coherent structures enables the prediction and estimation of the environmental dynamics, we discuss how this geophysical perspective can result in improved control strategies for autonomous systems.

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previous chapter A Computational Framework for Environment-Aware Robotic Manipulation Planning
next chapter Unifying Robot Trajectory Tracking with Control Contraction Metrics
Footnotes
2
Noise can arise from uncertainty in model parameters and/or measurement noise.
 
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Metadata
Title
Small and Adrift with Self-Control: Using the Environment to Improve Autonomy
Authors
M. Ani Hsieh
Hadi Hajieghrary
Dhanushka Kularatne
Christoffer R. Heckman
Eric Forgoston
Ira B. Schwartz
Philip A. Yecko
Copyright Year
2018
Book
Robotics Research

Print ISBN: 978-3-319-60915-7

Electronic ISBN: 978-3-319-60916-4

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-60916-4_22