Autonomous Robots

, Volume 21, Issue 1, pp 3–14

How a mobile robot selects landmarks to make a decision based on an information criterion


DOI: 10.1007/s10514-005-5557-2

Cite this article as:
Mitsunaga, N. & Asada, M. Auton Robot (2006) 21: 3. doi:10.1007/s10514-005-5557-2


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.


Decision making Decision tree Information criterion Observation strategy Active perception 

Copyright information

© Springer Science + Business Media, LLC 2006

Authors and Affiliations

  1. 1.Intelligent Robotics and Communication LaboratoriesAdvanced Telecommunications Research Institute InternationalKyotoJapan
  2. 2.Emergent Robotics Area, Department of Adaptive Machine Systems, Graduate School of EngineeringOsaka UniversityJapan
  3. 3.Handai Frontier Research CenterOsaka

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