A Fresh look at sensor-based navigation: Navigation with sensing costs

Zahy Bnaya, Ariel Felner, Eyal Shimony, Gal A. Kaminka, Efi Merdler

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations


Most work on navigation minimize travel effort or computational effort of the navigating agent, while assuming that unknown components of the environment are sensed by the agent at no cost. We introduce a framework for navigation where the agent needs to minimize a global cost function which includes both the travel cost and the sensing cost. At each point in time, the agent needs to decide whether to perform sense queries or to move towards the target. We develop the SN (Sensing-based Navigation) framework that utilizes heuristic functions to determine when and where to sense the environment in order to minimize total costs. We develop several such heuristics, based on the expected total cost. Experimental results show the benefits of our heuristics over existing work, and demonstrate the generality of the SN framework.

Original languageEnglish
Number of pages7
StatePublished - 1 Dec 2008
Event2008 AAAI Workshop - Chicago, IL, United States
Duration: 13 Jul 200813 Jul 2008


Conference2008 AAAI Workshop
Country/TerritoryUnited States
CityChicago, IL

ASJC Scopus subject areas

  • General Engineering


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