Exploration in information distribution maps
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/22572
Tipus de documentText en actes de congrés
Data publicació2013
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteARCAS - Aerial Robotics Cooperative Assembly System (EC-FP7-287617)
SPENCER - Social situation-aware perception and action for cognitive robots (EC-FP7-600877)
SPENCER - Social situation-aware perception and action for cognitive robots (EC-FP7-600877)
Abstract
In this paper, a novel solution for autonomous
robotic exploration is proposed. We model the distribution of
information in an unknown environment as an unsteady diffusion
process, which can be an appropriate mathematical formulation
and analogy for expanding, time-varying, and dynamic envi-
ronments. This information distribution map is the solution
of the diffusion process partial differential equation, and is
regressed from sensor data as a Gaussian Process. Optimization
of the process parameters leads to an optimal frontier map
which describes regions of interest for further exploration. Since
the presented approach considers a continuous model of the
environment, it can be used to plan smooth exploration paths
exploiting the structural dependencies of the environment whilst
handling sparse sensor measurements. The performance of the
approach is evaluated through simulation results in the well-
known Freiburg and Cave maps.
CitacióJadidi, M. [et al.]. Exploration in information distribution maps. A: RSS Workshop on Robotic Exploration, Monitoring, and Information Collection. "Proceedings of the 2013 RSS Workshop on Robotic Exploration, Monitoring, and Information Collection". Berlin: 2013, p. 1-8.
Versió de l'editorhttp://sertac.scripts.mit.edu/rssworkshop/
Fitxers | Descripció | Mida | Format | Visualitza |
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1428-Exploratio ... tion-Distribution-Maps.pdf | 4,936Mb | Visualitza/Obre |