自主环境探测机器人的遍历性研究
On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations
摘要：
本文研究了自主机器人环境探测的遍历性问题。作为参考的空间分布由高斯混合物给出，并且机器人的质量生成被假设为瘦高斯。要解决的主要问题是，然后找出适当的时机，机器人访问，以及离开每个组件明智的高斯为目的，实现遍历。所提出的方法的新颖性是，没有近似是必需的开发方法。给出了遍历函数的定义，并基于时间分析给出了收敛条件。并给出了实现遍历性的形式化算法。为了支持所提出的算法的有效性，仿真结果提供。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
