Paper Info
Title
Exploration of an unknown environment with a differential drive disc robot
Abstract
This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. a landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907212
Robotics and Automation
Keywords
Field
DocType
feedback,robots,sensors,Moore machine,angle measurement,collision-free subset,differential drive disc robot system,distance measurement,planar environment exploration,polygonal environment exploration,robot configuration space,robot sensor,saliency object,self localization,sensor feedback,unknown environment exploration
Robot learning,Robot control,Social robot,Computer vision,Robot kinematics,Control engineering,Exploration problem,Artificial intelligence,Mobile robot navigation,Engineering,Mobile robot,Articulated robot
Conference
ISSN
Citations 
PageRank 
1050-4729
4
0.40
References 
Authors
6
7
Name
Order
Citations
PageRank
Guillermo Laguna162.79
R. Murrieta-cid2826.10
H. M. Becerra311912.14
Rigoberto Lopez-Padilla4153.03
Steven M. Lavalle53121227.31
Murrieta-Cid, R.640.40
Lopez-Padilla, R.740.40