D-CIS Publication Database


Type of publication:Incollection
Entered by:AVI
Title Beyond frontier exploration
Bibtex cite IDVisser08lnai
Booktitle RoboCup 2007: Robot Soccer World Cup XI
Series Lecture Notes in Artificial Intelligence
Year published 2008
Month July
Volume 5001
Pages 113-123
Publisher Springer-Verlag
Address Berlin Heidelberg
ISBN 978-3540688464
URL http://www.science.uva.nl/~arnoud/publications/BeyondFrontiers.pdf
Keywords robot exploration,mapping algorithms
This article investigates the prerequisites for a global exploration strategy in an unknown environment on a virtual disaster site. Assume that a robot equipped with a laser range scanner can build a detailed map of a previous unknown environment. The remaining question is how to use this information on this map for further exploration. On a map several interesting locations can be present where the exploration can be continued, referred as exploration frontiers. Typically, a greedy algorithm is used for the decision which frontier to explore next. Such a greedy algorithm only considers interesting locations locally, focused to reduce the movement costs. More sophisticated algorithms also take into account the information that can be gained along each frontier. This shifts the problem to estimate the amount of unexplored area behind the frontiers on the global map. Our algorithm exploits the long range of current laser scanners. Typically, during the previous exploration a small number of laser rays already passed the frontier, but this number is too low to have major impact on the generated map. Yet, the few rays through a frontier can be used to estimate the potential information gain from unexplored area beyond the frontier.
Visser, Arnoud
Xingrui, Ji
van Ittersum, Merlijn
González Jaime, Luis A.
Stancu, Laurentiu A.
Visser, Ubbo
Ribeiro, Fernando
Ohashi, Takeshi
Dellaert, Frank
http://www.springerlink.com/content/04v06606k45116m3/?p=209638ca719c4a4b9b6c259ad07accad&pi=9 (main file)
Total mark: 5