Topology guided search of potential fields

Using reactive control algorithms and a dictionary of motion primitives, we have developed search and reconnaissance protocols for mobile robots aimed at efficiently discovering key features of an unknown potential field´s topology (as opposed to its geometry). This work has in a natural way led to the creation of parsimonious reconnaissance routines that do not rely on any prior knowledge about the environment. The design of topology guided search protocols uses a mathematical framework that quantifies the relationship between what is discovered and what remains to be discovered. This quantification rests on an information theory inspired model, whose properties allow us to treat search as a problem in optimal information acquisition. The main idea is that “conservative” and “aggressive” search strategies can be precisely defined, and search decisions regarding exploration vs. exploitation choices can be informed by our information-like metric.