Robotics | |
DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing | |
Niccoló Tosi2  Olivier David3  Herman Bruyninckx2  Nicola Bellotto1  Nick Hawes1  Mohan Sridharan1  | |
[1] Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium;;Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, 3001 Heverlee, Belgium; E-Mails:;CEA, LIST, Interactive Robotics Laboratory, PC 178, 91191 Gif sur Yvette Cedex, France; E-Mail: | |
关键词: active sensing; localization; tactile sensors; information gain; entropy; decision making; reasoning; | |
DOI : 10.3390/robotics4020141 | |
来源: mdpi | |
【 摘 要 】
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 algorithm for selecting actions explicitly trading off information gain, execution time and computational cost; and (iv) experimental results of touch-based localization in an industrial setting. Generalizing from prior work, the formal model represents an active sensing task by six primitives: configuration space, information space, object model, action space, inference scheme and action-selection scheme; prior work applications conform to the model as illustrated by four concrete examples. On top of the mentioned primitives, the task graph is then introduced as the relationship to represent an active sensing task as a sequence of low-complexity actions defined over different configuration spaces of the object. The presented
【 授权许可】
CC BY
© 2015 by the authors; licensee MDPI, Basel, Switzerland.
【 预 览 】
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RO202003190012330ZK.pdf | 1686KB | download |