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cs.RO2024
When to Localize? A POMDP Approach
Troi Williams, Kasra Torshizi, Pratap Tokekar
Robots often localize to lower navigational errors and facilitate downstream, high-level tasks. However, a robot may want to selectively localize when localization is costly (such…
cs.RO2024
When to Localize? A Risk-Constrained Reinforcement Learning Approach
Chak Lam Shek, Kasra Torshizi, Troi Williams +1
In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is e…