D. Lee and M. Recce. Quantitative evaluation of the exploration strategies of a mobile robot. Internat. J. Robot. Res., 16(4):413--447, 1997.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....unknown terrain, they mainly differ in the way the environment is represented. Furthermore, there is a serious amount of theoretical work providing a mathematical analysis of the complexity of exploration strategies including comparisons for single robots [37, 31, 13, 14, 1, 2, 42] Additionally [35] provides an experimental analysis of the performance of different exploration strategies for one mobile robot. 1000 2000 3000 4000 5000 5 10 15 20 uncoordinated coordinated optimized 0 200 400 600 800 1000 1200 1400 5 10 15 20 uncoordinated coordinated optimized 0 200 400 ....

D. Lee and M. Recce. Quantitative evaluation of the exploration strategies of a mobile robot. International Journal of Robotics Research, 16(4):413--447, 1997.

....by structure from motion are not necessarily what is needed for robot navigation. In the sonar work, landmark maps are much sparser but more attention is paid to how they are constructed and used, and that is something that the work in this thesis addresses, now with active vision. Lee and Recce [51] have done work on evaluating the usefulness of maps automatically generated by a robot with sonar: once a map has been formed, paths planned between randomly selected points are tested for their safety and efficiency. Another comment from Leonard is that when choosing how a robot should move, ....

D. Lee and M. Recce. Quantitative evaluation of the exploration strategy of a mobile robot. In AISB 94 Workshop: Models or behaviours --- which way forward for robotics?, University of Leeds, April 1994.

....far, relatively few attempts have been made to quantify robot environment interactions or to conduct experimental comparisons of navigating robots. Exceptions include (Sch oner Dose 1992; Smithers 1995) where fundamental sensor motor behaviors were analysed in terms of dynamical systems theory; (Lee Reece 1994), where exploration strategies for mapping unfamiliar environments were evaluated; and (Gutmann et al. 1998; Thrun 1998) where various algorithms for self localisation were compared. Performance Measurement The experiments were conducted using played back sensor data recorded by the robot ....

Lee, D., and Reece, M. 1994. Quantitative evaluation of the exploration strategies of a mobile robot. In Proc. AAAI'94.

....This utility is reduced as soon as one robot chooses a target position in the visibility range. By trading off the utility and costs of unexplored positions our approach achieves the coordination in an elegant way. Whereas the exploration problem has been studied in detail for single robots [1, 7, 11, 12, 17], there are only a few approaches for multi robot systems. Concerning the collaborative exploration by multiple robots, Rekleitis et al. 14, 15] focus on the problem of reducing the odometry error during exploration. They separate the environment into stripes that are explored successively by the ....

D. Lee and M. Recce. Quantitative evaluation of the exploration strategies of a mobile robot. International Journal of Robotics Research, 16(4):413--447, 1997.

....far, relatively few attempts have been made to quantify robot environment interactions or to conduct experimental comparisons of navigating robots. Exceptions include (Schoner Dose 1992; Smithers 1995) where fundamental sensor motor behaviors were analysed in terms of dynamical systems theory; (Lee Reece 1994), where exploration strategies for mapping unfamiliar environments were evaluated; and (Gutmann et al. 1998; Thrun 1998) where various algorithms for self localisation were compared. Performance Measurement The experiments were conducted using played back sensor data recorded by the robot ....

Lee, D., and Reece, M. 1994. Quantitative evaluation of the exploration strategies of a mobile robot. In Proc. AAAI'94.

....to specular reflections of the beam. The readings fall short of the wall when the nearest point is not at the center of the spreading beam. Previous work has shown that scans from a sequence of movements can be combined to produce an accurate map of an environment (Leonard Durrant Whyte, 1992; Lee Recce, 1996). In comparison with a rat, ARNE has very limited sensory input. In order to simulate a hidden goal, an overhead camera was placed in one part of the environment. A lamp was mounted on the central axis of the circular base of the robot, so that when ARNE moved under the camera its presence at the ....

....not to contain obstacles it is marked as free. The location of a goal in an environment is represented by cartesian coordinates. The algorithms which are used to extract stimuli from raw sonar data are quite complex, and are only described in outline here. They have been described fully elsewhere (Lee Recce, 1996; Harris et al. 1996) After a sonar scan is taken, the entire scan is analysed, and the new data are incorporated into the egocentric map. For each distance reading, the egocentric map, held in working memory, is searched for a wall feature which might correspond to the reading. If a ....

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Lee, D., & Recce, M. 1996. Quantitative evaluation of the exploration strategies of a mobile robot. Int. J. Robotics Research, in press.

....it is judged occupied, otherwise it is marked unknown. Occupied cells were drawn on the output maps as line segments, with orientation given by the maximum of the orientation probability stored for the segment. We also compared the performance of our model to that of the model of Lee and Recce [7], 8] In this system, a non probabilistic grid based map is used to represent free space, but the position of walls in the environment is represented by sets of Cartesian coordinates for their endpoints. We tested the three models on identical copies of Smooth Wood Pillar Brick Smooth Plaster ....

....specular and nonspecular surfaces. sonar data collected from several runs in several different environments. Figure 5 shows the maps produced 10 and 30 time steps into a run in the environment shown in figure 4. During the data collection runs, the robot followed a simple wall following strategy [7], maintaining a distance of 35cm between itself and the wall on its right. During each time step the robot attempted to move one length along the wall. It stopped short of this full length step if an obstacle was detected in its path. The location of the robot at each of the time steps is shown by ....

[Article contains additional citation context not shown here]

D. Lee and M. Recce. Quantitative evaluation of the exploration strategies of a mobile robot. Int. J. Robotics Research, in press.

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D. Lee and M. Recce. Quantitative evaluation of the exploration strategies of a mobile robot. Internat. J. Robot. Res., 16(4):413--447, 1997.

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D. Lee and M. Recce. Quantitative evaluation of the exploration strategy of a mobile robot. In AISB 94 Workshop: Models or behaviours --- which way forward for robotics?, University of Leeds, April 1994.

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D. Lee and M. Recce, "Quantitative evaluation of the exploration strategies of a mobile robot," International Journal of Robotics Research, vol. 16, no. 4, pp. 413--447, 1997.

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D. Lee and M. Recce. Quantitative evaluation of the exploration strategy of a mobile robot. In AISB 94 Workshop: Models or behaviours --- which way forward for robotics?, University of Leeds, April 1994.

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D. LEE AND M. RECCE, Quantitative evaluation of the exploration strategies of a mobile robot. International Journal of Robotics Research, vol. 16, no. 4, pp. 413--447, August 1997.

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LEE, D. C., AND RECCE, M. Quantitative evaluation of the exploration strategies of a mobile robot. IJRR 16, 4 (Aug. 1997), pp. 413--447.

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LEE, D. C., AND RECCE, M. Quantitative evaluation of the exploration strategies of a mobile robot. IJRR 16, 4 (Aug. 1997), pp. 413--447.

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