Systematic selection of the map-feedback activation threshold J_th

Determine a systematic, theoretically grounded procedure for selecting the threshold value J_th used to activate online map feedback in the Coverage-Recon framework, where the switching rule sets δ2 = 0 when the global objective J ≥ J_th and δ2 = δ2′ when J < J_th. The goal is to specify how J_th should be chosen to guide the transition from initial exploration to refinement in the QP-based angle-aware coverage controller with importance-index updates.

Background

Coverage-Recon activates online map feedback based on a threshold J_th on the global objective J, enabling the controller to shift from exploration to refinement as coverage progresses. In practice, the authors set J_th empirically, acknowledging the need for a principled method to choose this value.

The switching rule directly affects when the importance index update incorporates mesh-change feedback, thereby influencing sampling focus and reconstruction quality. A theoretical guideline for choosing J_th would formalize this activation mechanism and potentially improve robustness and performance across scenarios.