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arXiv cs.RO·· 2 days agoAI score59

XIT: Exploration and Exploitation Informed Trees planner for active gas distribution mapping in unknown environments

Summary

The authors propose XIT, a sampling-based planner that formulates active gas distribution mapping (GDM) as a next-best-trajectory informative path planning problem, growing a single shared tree toward multiple frontier goals while taking informative gas samples along the way.

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Source: arXiv cs.RO · arxiv.org

Perception and localizationPlanning and decision makingData and simulationResearch papers#Research#Planning and decision-making#Perception and localization#Data and simulation