Mostra el registre d'ítem simple

dc.contributor.authorVallvé Navarro, Joan
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-12-09T16:03:20Z
dc.date.available2015-12-09T16:03:20Z
dc.date.issued2015-07-01
dc.identifier.citationVallve, J., Andrade-Cetto, J. Potential information fields for mobile robot exploration. "Robotics and autonomous systems", 01 Juliol 2015, vol. 69, p. 68-79.
dc.identifier.issn0921-8890
dc.identifier.urihttp://hdl.handle.net/2117/80330
dc.description.abstractWe present a decision theoretic approach to mobile robot exploration. The method evaluates the reduction of joint path and map entropy and computes a potential information field in robot configuration space using these joint entropy reduction estimates. The exploration trajectory is computed descending on the gradient of this field. The technique uses Pose SLAM as its estimation backbone. Very efficient kernel convolution mechanisms are used to evaluate entropy reduction for each sensor ray, and for each possible robot orientation, taking frontiers and obstacles into account. In the end, the computation of this field on the entire configuration space is shown to be very efficient. The approach is tested in simulations in a pair of publicly available datasets comparing favorably both in quality of estimates and in execution time against an RRT*-based search for the nearest frontier and also against a locally optimal exploration strategy. (C) 2014 Elsevier B.V. All rights reserved.
dc.format.extent12 p.
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherMobile robotics
dc.subject.otherSLAM
dc.subject.otherExploration
dc.subject.otherUncertainty
dc.subject.otherNavigation
dc.subject.otherDriven
dc.titlePotential information fields for mobile robot exploration
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1016/j.robot.2014.08.009
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Mobile robots
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0921889014001675
dc.rights.accessOpen Access
local.identifier.drac15632678
dc.description.versionPreprint
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/605598/EU/Cargo handling by Automated Next generation Transportation Systems for ports and terminals/CARGO-ANTS
local.citation.authorVallve, J.; Andrade-Cetto, J.
local.citation.publicationNameRobotics and autonomous systems
local.citation.volume69
local.citation.startingPage68
local.citation.endingPage79


Fitxers d'aquest items

Thumbnail

Aquest ítem apareix a les col·leccions següents

Mostra el registre d'ítem simple