DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing

DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing

This article presents: (i) a formal, generic model for active sensing tasks; (ii) the insight that active sensing actions can very often be searched on less than six-dimensional configuration spaces (bringing an exponential reduction in the computational costs involved in the search); (iii) an algor...

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Bibliographic Details
Main Authors: Niccoló Tosi, Olivier David, Herman Bruyninckx
Format: Article
Language:English
Published: MDPI AG 2015-05-01
Series:Robotics
Subjects:
active sensing
localization
tactile sensors
information gain
entropy
decision making
reasoning
Online Access:http://www.mdpi.com/2218-6581/4/2/141

Internet

http://www.mdpi.com/2218-6581/4/2/141

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