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Exploration in information distribution maps
dc.contributor.author | Jadidi, Maani Ghaffari |
dc.contributor.author | Valls Miró, Jaime |
dc.contributor.author | Valencia Carreño, Rafael |
dc.contributor.author | Andrade-Cetto, Juan |
dc.contributor.author | Dissanayake, Gamini |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2014-04-08T18:23:36Z |
dc.date.available | 2014-04-08T18:23:36Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Jadidi, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/22572 |
dc.description.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. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots |
dc.subject.other | robots |
dc.title | Exploration in information distribution maps |
dc.type | Conference report |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://sertac.scripts.mit.edu/rssworkshop/ |
dc.rights.access | Open Access |
local.identifier.drac | 12665654 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/600877/EU/Social situation-aware perception and action for cognitive robots/SPENCER |
local.citation.author | Jadidi, M.; Valls, J.; Valencia, R.; Andrade-Cetto, J.; Dissanayake, G. |
local.citation.contributor | RSS Workshop on Robotic Exploration, Monitoring, and Information Collection |
local.citation.pubplace | Berlin |
local.citation.publicationName | Proceedings of the 2013 RSS Workshop on Robotic Exploration, Monitoring, and Information Collection |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |