Information Theoretic Exploration with Gaussian Process (GP) and Bayesian Optimization (BO)
Here is a simulation of infomation-theoretic exploration with python. ROS-based method is released by Robust Field Autonomy Lab. To make the principle and mechanism more clear for active slamer, I reproduce it with python and revise some functions.
Some basic knowledge is suggested for understanding this work.
- Gaussian Process: https://krasserm.github.io/2018/03/19/gaussian-processes/
- Bayesian Optimization: http://krasserm.github.io/2018/03/21/bayesian-optimization/
- Information-Theoretic Exploration with Bayesian Optimization: https://personal.stevens.edu/~benglot/Bai_Wang_Chen_Englot_IROS2016_AcceptedVersion.pdf
3 pictures from each step. The first picture illustrates the candidates. The second picture illustrates the top 5. The third picture illustrates the chosen next location and its receptive field.
Junyi Ma, Beijing Institute of Technology