论文标题
足够了：朝着自主性不确定性驱动的停止标准
Enough is Enough: Towards Autonomous Uncertainty-driven Stopping Criteria
论文作者
论文摘要
自主机器人探索长期以来一直引起了机器人技术社区的关注，并且是一个高度相关性的话题。但是，将这种系统部署在现实世界中仍然远非现实。在某种程度上，这可以归因于以下事实：大多数研究旨在改善现有算法并在模拟环境中测试新的配方，而不是解决现实世界情景的实际问题。自主决定何时必须终止或更改勘探（停止标准）的基本问题是这种情况，最近尚未受到任何关注。在本文中，我们讨论了使用适当的停止标准的重要性，并基于主动图 - SLAM中最佳标准的演变来分析新标准的行为。
Autonomous robotic exploration has long attracted the attention of the robotics community and is a topic of high relevance. Deploying such systems in the real world, however, is still far from being a reality. In part, it can be attributed to the fact that most research is directed towards improving existing algorithms and testing novel formulations in simulation environments rather than addressing practical issues of real-world scenarios. This is the case of the fundamental problem of autonomously deciding when exploration has to be terminated or changed (stopping criteria), which has not received any attention recently. In this paper, we discuss the importance of using appropriate stopping criteria and analyse the behaviour of a novel criterion based on the evolution of optimality criteria in active graph-SLAM.
