Efficient Active Sensing with Categorized Further Explorations for a Home Behavior-Monitoring Robot

Table 4

The time cost of AS (unit: second), from the first irregularity detected to the last sensing parameter change.

	Area ②		Area ③
AS trial number	Heuristic-based AS	Template-matching-based AS	Template-matching-based AS
Trial 1	14.5	10.9	27.3
Trial 2	10.4	13.9	29.9
Trial 3	7.74	13.9	11.9