3 accepted papers
When robots are deployed in the field for environmental monitoring they typically execute pre-programmed motions, such as lawnmower paths, instead of adaptive methods, such as informative path planning. One reason for this is that adaptive methods are dependent on parameter choices that are both cri…
Scientists interested in studying natural phenomena often take physical specimens from locations in the environment for later analysis. These analysis locations are typically specified by expert heuristics. Instead, we propose to choose locations for scientific analysis by using a robot to perform a
We investigate improving Monte Carlo Tree Search based solvers for Partially Observable Markov Decision Processes (POMDPs), when applied to adaptive sampling problems. We propose improvements in rollout allocation, the action exploration algorithm, and plan commitment. The first allocates a differen…