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Task planning for service robots differs from traditional planning in the following ways: (i) it requires more extensive interactions between the robot and the human.
Fianlly, the main advantage of the MLE is that it achieves the CRLB faster, while the main two advantages of the new estimator are that: i) it requires a sampling rate and a number of samples much smaller than those required by the MLE and that ii) it outperforms the MLE for low SNRs.
In the LEAP scheme and the OTMK Basic scheme I, it requires that each node unicast a reply message to the node that initially broadcast the joining message, resulting in more messages to be sent and received by the nodes in addition to incurring additional energy consumption and delaying key setup.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com