Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Functional Path Optimisation for Exploration in Continuous Occupancy
  Maps   Autonomous exploration is a complex task where the robot moves through an
unknown environment with the goal of mapping it. The desired output of such a
process is a sequence of paths that efficiently and safely minimise the
uncertainty of the resulting map. However, optimising over the entire space of
possible paths is computationally intractable. Therefore, most exploration
methods relax the general problem by optimising a simpler one, for example
finding the single next best view. In this work, we formulate exploration as a
variational problem which allows us to directly optimise in the space of
trajectories using functional gradient methods, searching for the Next Best
Path (NBP). We take advantage of the recently introduced Hilbert maps to devise
an information-based functional that can be computed in closed-form. The
resulting trajectories are continuous and maximise safety as well as mutual
information. In experiments we verify the ability of the proposed method to
find smooth and safe paths and compare these results with other exploration
methods.

36
The categories of this paper are: cmp-lg
19
The categories of this paper are: eess
10
The categories of this paper are: q-bio
31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
20
The categories of this paper are: acc-phys
34
The categories of this paper are: chem-ph
32
The categories of this paper are: atom-ph
9
The categories of this paper are: nlin
28
The categories of this paper are: alg-geom
3
The categories of this paper are: physics
35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga