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dc.contributor.authorJadidi, Maani Ghaffari
dc.contributor.authorValls Miró, Jaime
dc.contributor.authorValencia Carreño, Rafael
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-06-11T17:01:36Z
dc.date.available2015-06-11T17:01:36Z
dc.date.created2014
dc.date.issued2014
dc.identifier.citationJadidi, M. [et al.]. Exploration on continuous Gaussian process frontier maps. A: IEEE International Conference on Robotics and Automation. "2014 IEEE International Conference on Robotics and Automation (ICRA)". Hong Kong: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 6077-6082.
dc.identifier.urihttp://hdl.handle.net/2117/28286
dc.description.abstractAn information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a continuous model of the environment that exploits structural dependencies without the need to resort to a fixed resolution grid map. A gradient field of occupancy probability distribution is regressed from sensor data as a Gaussian process providing frontier boundaries for further exploration. The resulting continuous global frontier surface completely describes unexplored regions and, inherently, provides an automatic stop criterion for a desired sensitivity. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobots
dc.titleExploration on continuous Gaussian process frontier maps
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.identifier.doi10.1109/ICRA.2014.6907754
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907754
dc.rights.accessOpen Access
drac.iddocument15270255
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorJadidi, M.; Valls, J.; Valencia, R.; Andrade-Cetto, J.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.pubplaceHong Kong
upcommons.citation.publishedtrue
upcommons.citation.publicationName2014 IEEE International Conference on Robotics and Automation (ICRA)
upcommons.citation.startingPage6077
upcommons.citation.endingPage6082


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