Name
Abstract | ||
|---|---|---|
We present an integrated exploration strategy for mobile robots. The method is based on the randomized incremental generation of a data structure called Sensor-based Random Tree (SRT), which represents a roadmap of the explored area with an associated safe region. A continuous localization procedure based on natural features of the safe region is integrated in the scheme. Both the information gain and the localization potential are taken into account when evaluating candidate configurations for exploration. Simulations and experiments on the MagellanPro robot show the performance of the proposed technique. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.281689 | 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 |
Keywords | Field | DocType |
information gain,data structure,mobile robots,sensors,data structures,random processes,mobile robot | Random tree,Data structure,Computer vision,Computer science,Information gain,Stochastic process,Artificial intelligence,Robot,Mobile robot | Conference |
Citations | PageRank | References |
12 | 0.78 | 15 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luigi Freda | 1 | 95 | 7.56 |
| Francesco Loiudice | 2 | 12 | 0.78 |
| Giuseppe Oriolo | 3 | 1270 | 100.12 |