Semantic-Aware Informative Path Planning via Submodularity

Please use this identifier to cite or link to this item: https://ir.lib.ncu.edu.tw/handle/987654321/98567

Title:	Semantic-Aware Informative Path Planning via Submodularity
Authors:	廖啓亨;Liao, Ci-Heng
Contributors:	數學系
Keywords:	次模性;資訊軌跡規劃;語意認知;Submodularity;Informative path planning;Semantic-aware
Date:	2025-08-29
Issue Date:	2025-10-17 12:56:01 (UTC+8)
Publisher:	國立中央大學
Abstract:	資訊軌跡規劃（例如，物件搜尋、地圖探索）是機器人技術的關鍵技術。由於大型語言模型技術的進步，可以利用更多語意資訊來提升規劃效能。本研究提出了一種語意認知的資訊軌跡規劃(SA-IPP)演算法偵測率假說(HPD)。由於HPD的目標函數具有自適應次模性，因此它提供了理論保證。實驗表明，該演算法的性能優於基準方法。;Informative path planning (e.g., object search, map exploration) is a key technology in robotics. Due to advances in large language model technology, more semantic information can be leveraged to boost the planning performance. This research proposes a semantic-aware informative path planning (SA-IPP) algorithm, hypothesis probability of detection (HPD). Since the objective function of HPD has adaptive submodularity, it provides theoretical guarantees. The experiments demonstrate that the proposed algorithm outperforms benchmark approaches.
Appears in Collections:	[Graduate Institute of Mathematics] Electronic Thesis & Dissertation

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