论文标题
关于自主机器人的终身性，以进行有效的环境探索
On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations
论文作者
论文摘要
本文解决了有效的环境探索的自动机器人千古问题。空间分布作为参考，由高斯的混合物和机器人的质量产生被认为是瘦的高斯。然后，要解决的主要问题是找出适当的时间安排，以便机器人访问，并为了实现奇特性而离开每个组件。该方法的新颖性是，开发方法不需要近似。鉴于沿着沿着沿着的函数的定义，基于计时分析得出了收敛条件。同样，还提供了实现终身制的正式算法。为了支持所提出的算法的有效性，提供了仿真结果。
This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny Gaussian. The main problem to solve is then to find out proper timing for the robot to visit as well as leave each component-wise Gaussian for the purpose of achieving the ergodicity. The novelty of the proposed method is that no approximation is required for the developed method. Given the definition of the ergodic function, a convergence condition is derived based on the timing analysis. Also, a formal algorithm to achieve the ergodicity is provided. To support the validity of the proposed algorithm, simulation results are provided.
