.png){kind=icon}
.png){kind=icon}
Return
An efficient beam search algorithm for active perception in mobile robotics
.png){kind=icon}
PRE
AI
K
H
V
C
M
DOI：10.1177/02783649261455911.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
<jats:p>
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either solve a computationally expensive traveling salesman problem over heuristically selected informative nodes, or adopt a more efficient but overly constrained shortest path tree formulation. To address these limitations, we explore beam search algorithms as scalable alternatives. While the standard beam search provides scalability by preserving the top-
<jats:italic toggle="yes">B</jats:italic>
paths at each depth level, it is prone to local optima and exhibits parameter sensitivity. Our first contribution is a node-wise beam search (NBS) algorithm, which maintains top-
<jats:italic toggle="yes">B</jats:italic>
candidates per node to enable more effective exploration of the solution space. Systematic benchmarking on graphs shows that NBS consistently outperforms other baselines and maintains strong performance even at low beam widths. As a second contribution, we integrate the concept of frontiers into the path selection criterion, introducing the expected gain metric, which better balances exploration and exploitation compared to existing alternatives. Our third contribution proposes the rapidly-exploring random annulus graph (RRAG), a novel graph construction method that preserves full orientation sampling and ensures connectivity in cluttered environments through a fallback local sampling-based planner. Extensive experiments demonstrate that NBS combined with RRAG achieves the highest performance across all three representative active perception tasks, outperforming state-of-the-art algorithms by at least 20% in one or more tasks. We further validate the approach on real robotic platforms in different scenarios. Project page:
<jats:ext-link xmlns:xlink="http://www.w3.org/1999/xlink" ext-link-type="uri" xlink:href="https://efficient-beam-search.github.io/">https://efficient-beam-search.github.io/</jats:ext-link>
</jats:p>
Journal
IF:
5
Papers:
2.4K
Citations:
1.5W
Organization
Cited Papers