Modeling curiosity in a mobile robot for long-term autonomous exploration and monitoring
MetadataShow full item record
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre- programmed missions are likely to have limited utility. We use a realtime topic modeling technique to build a semantic perception model of the environment, using which, we plan a path through the locations in the world with high se- mantic information content. The life-long learning behavior of the proposed perception model makes it suitable for long-term exploration missions. We val- idate the approach using simulated exploration experiments using aerial and underwater data, and demonstrate an implementation on the Aqua underwa- ter robot in a variety of scenarios. We nd that the proposed exploration paths that are biased towards locations with high topic perplexity, produce better terrain models with high discriminative power. Moreover, we show that the proposed algorithm implemented on Aqua robot is able to do tasks such as coral reef inspection, diver following, and sea oor exploration, without any prior training or preparation.
Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 40 (2016): 1267–1278, doi:10.1007/s10514-015-9500-x.
Suggested CitationPreprint: Girdhar, Yogesh, Dudek, Gregory, "Modeling curiosity in a mobile robot for long-term autonomous exploration and monitoring", 2015-09, https://doi.org/10.1007/s10514-015-9500-x, https://hdl.handle.net/1912/8505
Showing items related by title, author, creator and subject.
Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer Anderson, Jamie M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1992-02)The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being developed for scientific study of the deep ocean sea:floor. ABE will be completely autonomous from the surface which means that the lifetime ...
A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot Ferri, Gabriele; Jakuba, Michael V.; Yoerger, Dana R. (2010-04)In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical ...
Jamieson, Stewart Christopher (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2020-05)Contemporary scientific exploration most often takes place in highly remote and dangerous environments, such as in the deep sea and on other planets. These environments are very hostile to humans, which makes robotic ...