Work

Towards the Embodiment of Active Sensing in Robotic Systems

Year: 2024

Type: conference-paper

Abstract: Active sensing enables robots to interact dynamically with their environment by optimizing sensory information flow. However, replicating this in robotic systems poses challenges, particularly in developing metrics that account for sensor limitations and actuation noise, as well as integrating active sensing into control architectures. This paper presents an overview of active sensing integration, explaining a metric based on the Constructibility and Reachability Gramians and showing a methodology for incorporating active sensing into task-oriented control using a modified Lyapunov-based Model Predictive Control framework. The approach is validated through simulations on a unicycle vehicle.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.14730996

Authors: Napolitano, Olga, Selvi, Daniela, Fontanelli, Daniele, Pallottino, Lucia, Salaris, Paolo

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6949235325

FWCI:

Cites:

Cited by:

Related to: