NDLI: A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning

Content Provider	IEEE Xplore Digital Library
Author	Hombal, V. Sanderson, A.C. Blidberg, R.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY (Hombal, V.; Sanderson, A.C.)
Abstract	Efficient adaptive strategies are required to facilitate the role of robotic vehicles as mobile platforms supporting sensing, monitoring, and tracking capabilities. Such strategies utilize a representation of sensor variable fields as a basis for the selection of sample points. In this paper a curvature based criterion for sample selection is presented. The curvature-sensitive sampling algorithm (CSS) utilizes the estimated second-derivative of an intermediate variable field to select sample points of interest for complex process models, such as used in oceanographic sampling with AUVs. For processes for which little or no prior knowledge base exists, an iterative curvature-based adaptive sampling algorithm (ICASA) is presented. The ICASA algorithm iteratively selects sets of sample locations based on non-parametric field representations. These algorithms are evaluated with respect to simulated data, experimental data, and data from oceanographic models. The performance is shown to be significantly better than the conventional uniform grid methodology. The selected iterative samples are used to create a path plan for a robotic vehicle sampling in the region of interest
Starting Page	217
Ending Page	222
File Size	8532037
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282561
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Iterative algorithms Sampling methods Path planning Robot sensing systems Mobile robots Monitoring Intelligent robots Cascading style sheets Remotely operated vehicles Navigation AUV robotic vehicles adaptive sampling sensor networks
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A navigation algorithm for an intelligent vehicle with a laser rangefinder

On the development of an experimental car-like mobile robot

Model-directed mobile robot navigation

Information-based intelligent unmanned ground vehicle navigation

Modeling and simulating a path planning and obstacle avoidance algorithm for an autonomous robotic vehicle

Path planning with hallucinated worlds

Cooperating multiple behavior-based robots for object manipulation

Motion Planning for the Oxford AGV

Fast reactive path planning by 2D and 3D multi-layer spatial grids for mobile robot navigation

A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning

Similar Documents

A navigation algorithm for an intelligent vehicle with a laser rangefinder

On the development of an experimental car-like mobile robot

Model-directed mobile robot navigation

Information-based intelligent unmanned ground vehicle navigation

Modeling and simulating a path planning and obstacle avoidance algorithm for an autonomous robotic vehicle

Path planning with hallucinated worlds

Cooperating multiple behavior-based robots for object manipulation

Motion Planning for the Oxford AGV

Fast reactive path planning by 2D and 3D multi-layer spatial grids for mobile robot navigation

A Non-Parametric Iterative Algorithm For Adaptive Sampling And Robotic Vehicle Path Planning