Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Frontier-based Automatic-differentiable Information Gain Measure for
  Robotic Exploration of Unknown 3D Environments   The path planning problem for autonomous exploration of an unknown region by
a robotic agent typically employs frontier-based or information-theoretic
heuristics. Frontier-based heuristics typically evaluate the information gain
of a viewpoint by the number of visible frontier voxels, which is a discrete
measure that can only be optimized by sampling. On the other hand,
information-theoretic heuristics compute information gain as the mutual
information between the map and the sensor's measurement. Although the gradient
of such measures can be computed, the computation involves costly numerical
differentiation. In this work, we add a novel fuzzy logic filter in the
counting of visible frontier voxels surrounding a viewpoint, which allows the
gradient of the information gain with respect to the viewpoint to be
efficiently computed using automatic differentiation. This enables us to
simultaneously optimize information gain with other differentiable quality
measures such as path length. Using multiple simulation environments, we
demonstrate that the proposed gradient-based optimization method consistently
improves the information gain and other quality measures of exploration paths.

12
The categories of this paper are: nucl-th
9
The categories of this paper are: nlin
7
The categories of this paper are: hep-th
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
3
The categories of this paper are: physics
17
The categories of this paper are: q-fin
26
The categories of this paper are: bayes-an
25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
28
The categories of this paper are: alg-geom
4
The categories of this paper are: cond-mat
8
The categories of this paper are: hep-ex
13
The categories of this paper are: quant-ph
2
The categories of this paper are: math
33
The categories of this paper are: plasm-ph