T. Edlinger and E. von Puttkamer, "Exploration of an indoorenvironment by an autonomous mobile robot," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Munich, Germany, 1994, pp. 1278--1248.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....strategies for exploration have been developed. One group of approaches deals with the problem of simultaneous localization and mapping [1, 4] an aspect that we do not address in this paper. A common technique for exploration strategies is to extract frontiers between known and unknown areas [2, 7, 20] and to visit the nearest unexplored place. These approaches only distinguish between scanned and un scanned areas and do not take into account the actual information gathered at each view point. To overcome this limitation, Gonzales et al. 8] determine the amount of unseen area that might be ....

....Ferrie [19] present an approach that also uses the entropy to measure the uncertainty in the geometric structure of objects that are scanned with a laser range sensor. In contrast to the work described here they use a parametric representation of the objects to be scanned. Edlinger and Puttkamer [7] developed a hierarchical exploration strategy for office environments. Their approach first explores rooms and then traverses through doorways to explore other parts of the environment. Tailor and Kriegman [16] describe a system for visiting all landmarks in the environment of the robot. Their ....

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T. Edlinger and E. von Puttkamer. Exploration of an indoor-environment by an autonomous mobile robot. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1994.

....or surveillance [3, 11] In the past, several strategies for exploration have been developed. A popular technique for This work has partly been supported by the German Science Foundation (DFG) under contract number SFB TR8 03. exploration is to extract frontiers between known and unknown areas [2, 6, 19] and to visit the nearest unexplored place. Recently Koenig et al. 10] have shown that such a strategy, which guides the vehicle to the closest unexplored point, keeps the traveled distance reasonably small. Most approaches applying such a technique solely distinguish between scanned and ....

....the uncertainty in the belief about the coverage of a cell to select view points yields more accurate maps than techniques relying on scan counting approaches. Scan counting techniques store for each cell the number of times it has been intercepted by a measurement. Several exploration techniques [2, 6, 19] assume that a place is explored if it has been scanned once. This is problematic especially when the underlying sensors are noisy. Figure 5 (left image) shows a typical occupancy grid map of our laboratory environment obtained from real sonar data and using this approach. Since the exploration ....

T. Edlinger and E. von Puttkamer. Exploration of an indoor-environment by an autonomous mobile robot. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1994.

....are not distributed, the interferences between them result in longer execution times. 5 Related Work The various aspects of the problem of exploring unknown environments with mobile robots have been studied intensively in the past. Different techniques for single robots have been presented in [32, 39, 51, 18, 23, 11, 16, 54, 50]. Whereas most of these approaches follow a greed strategy to acquire 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 ....

T. Edlinger and E. von Puttkamer. Exploration of an indoor-environment by an autonomous mobile robot. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1994.

....10: Final cost function with path indicated by the obstacles as the safest. Figure 10 shows the result of applying our approach; the total cost function is mapped, as well as the chosen path. 5. 2 Exploration Exploration methods have been implemented using neural networks and landmarks [13][4] as well as other techniques. In our approach, grid locations are classified into 3 basic types: blocked, clear and unknown. We would like to reduce all unknown regions until all reachable areas are either clear or blocked. We achieve this by assigning an attractive potential field to all unknown ....

T. Edlinger and E. Puttkamer. Exploration of an indoor environment by an autonomous mobile robot. In Proc. IEEE Int'l Conf. on Intelligent Robots and Systems, pages 1278--1284, Munich, Germany, September 1994.

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T. Edlinger, E. v. Puttkamer, "Exploration of an indoor-environment by an Autonomous Mobile Robot", Intelligent Robots and Systems, Munich, Germany, Sep. 1994, pp. 1278-1284

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T. Edlinger and E. von Puttkamer, "Exploration of an indoorenvironment by an autonomous mobile robot," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Munich, Germany, 1994, pp. 1278--1248.

No context found.

T. Edlinger and E. von Puttkamer, \Exploration of an indoorenvironment by an autonomous mobile robot," in Proceedings of vol. 2, pp. 1278-1284, 1994.

No context found.

T. Edlinger and E. von Puttkamer. Exploration of an indoor-environment by an autonomous mobile robot. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1994.

No context found.

Edlinger, T. and Puttkamer, E., 1994, "Exploration of an Indoor Environment by an Autonomous Mobile Robot." International Conference on Intelligent Robots and Systems (IROS '94). Munich, Germany, Sept. 12-16, pp. 1278-1284.

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