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[2405.02605] MEXGEN: An Effective and Efficient Information Gain ...

Example paths followed using PIM vs. MEXGEN (ours). PIM leads to selecting less effective actions as it can overestimate the information gain for actions. For example, at t = 170, PIM guided robot heads towards the center of the multi-modal belief state, away from the true object location and conducts multiple maneuvers near the center, seen at ...

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MexGen: An Effective and Efficient Information Gain Approximation for Information Gathering Path Planning Abstract: Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety.

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