Prioritized multihypothesis tracking by a robot with limited sensing
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
An information-based exploration strategy for environment mapping with mobile robots
Robotics and Autonomous Systems
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
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Most current mobile robots are designed to determine their actions according to their positions. Before making a decision, they need to localize themselves. Thus, their observation strategies are mainly for self-localization. However, observation strategies should not only be for self-localization but also for decision making. We propose an observation strategy that enables a mobile robot to make a decision. It enables a robot equipped with a limited viewing angle camera to make decisions without self-localization. A robot can make a decision based on a decision tree and on prediction trees of observations constructed from its experiences. The trees are constructed based on an information criterion for the action decision, not for self-localization or state estimation. The experimental results with a four legged robot are shown and discussed.