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About this paper
Aaron Hao Tan, Siddarth Narasimhan, Goldie Nejat
4CNet helps robot teams explore terrain by predicting unseen maps from partial maps and robots’ trajectories, then using prediction uncertainty to guide frontier selection. In simulation with 2–6 robots, its obstacle overlap score was 0.59 versus 0.28 for T-AEM; at a medium energy budget, confidence-guided exploration covered 42% versus 34% without the confidence network. These results apply to tested settings.
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