|
|
|
|
| LEADER |
01407 am a22001933u 4500 |
| 001 |
105883 |
| 042 |
|
|
|a dc
|
| 100 |
1 |
0 |
|a Ma, Fangchang
|e author
|
| 100 |
1 |
0 |
|a Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
|e contributor
|
| 100 |
1 |
0 |
|a Ma, Fangchang
|e contributor
|
| 100 |
1 |
0 |
|a Karaman, Sertac
|e contributor
|
| 700 |
1 |
0 |
|a Karaman, Sertac
|e author
|
| 245 |
0 |
0 |
|a Maximum-Reward Motion in a Stochastic Environment: The Nonequilibrium Statistical Mechanics Perspective
|
| 260 |
|
|
|b Springer International Publishing,
|c 2016-12-19T21:39:39Z.
|
| 856 |
|
|
|z Get fulltext
|u http://hdl.handle.net/1721.1/105883
|
| 520 |
|
|
|a We consider the problem of computing the maximum-reward motion in a reward field in an online setting. We assume that the robot has a limited perception range, and it discovers the reward field on the fly. We analyze the performance of a simple, practical lattice-based algorithm with respect to the perception range. Our main result is that, with very little perception range, the robot can collect as much reward as if it could see the whole reward field, under certain assumptions. Along the way, we establish novel connections between this class of problems and certain fundamental problems of nonequilibrium statistical mechanics . We demonstrate our results in simulation examples.
|
| 546 |
|
|
|a en_US
|
| 655 |
7 |
|
|a Article
|
| 773 |
|
|
|t Algorithmic Foundations of Robotics XI
|
