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Unknown Environments

by Spencer Greg Ahrens, Jonathan P. How, Spencer Greg Ahrens , 2008
"... This thesis presents a methodology, architecture, hardware implementation, and results of a system capable of controlling and guiding a hovering vehicle in unknown environments, emphasizing cluttered indoor spaces. Six-axis inertial data and a lowresolution onboard camera yield sufficient informatio ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
This thesis presents a methodology, architecture, hardware implementation, and results of a system capable of controlling and guiding a hovering vehicle in unknown environments, emphasizing cluttered indoor spaces. Six-axis inertial data and a lowresolution onboard camera yield sufficient

Unknown Environments

by Jonghyuk Kim, Salah Sukkarieh , 2004
"... Abstract. This paper presents the results of augmenting 6DoF Simultaneous Localisation and Mapping (SLAM) with GNSS/INS navigation system. SLAM algorithm is a feature based terrain aided navigation system that has the capability for online map building, and simultaneously utilising the generated map ..."
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. If GNSS is not available, the previously and/or newly generated map is now used to estimate the INS errors. Simulation results will be presented which shows that the system can provide reliable and accurate navigation solutions in GNSS denied environments for an extended period of time.

Exploring Unknown Environments

by Susanne Albers, Monika Rauch Henzinger - SIAM Journal on Computing , 1997
"... We consider exploration problems where a robot has to construct a complete map of an unknown environment. We assume that the environment is modeled by a directed, strongly connected graph. The robot's task is to visit all nodes and edges of the graph using the minimum number R of edge trave ..."
Abstract - Cited by 96 (2 self) - Add to MetaCart
We consider exploration problems where a robot has to construct a complete map of an unknown environment. We assume that the environment is modeled by a directed, strongly connected graph. The robot's task is to visit all nodes and edges of the graph using the minimum number R of edge

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

by Feng Lu, Evangelos Milios , 1994
"... A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot use ..."
Abstract - Cited by 281 (9 self) - Add to MetaCart
A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot

Performance of Multiple Agents in an Unknown Environment

by Jan De Mot, Eric Feron
"... Operating in an unknown environment is inherent to autonomous systems. This paper addresses two problems concerning efficient navigation in unknown environments. ..."
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Operating in an unknown environment is inherent to autonomous systems. This paper addresses two problems concerning efficient navigation in unknown environments.

Exploring Unknown Environments with Obstacles

by Susanne Albers, Klaus Kursawe, Sven Schuierer - In Proc. 10th ACM-SIAM Sympos. Discrete Algorithms , 1998
"... We study exploration problems where a robot has to construct a complete map of an unknown environment using a path that is as short as possible. In the first problem setting we consider, a robot has to explore n rectangles. We show that no deterministic or randomized online algorithm can be better t ..."
Abstract - Cited by 36 (1 self) - Add to MetaCart
We study exploration problems where a robot has to construct a complete map of an unknown environment using a path that is as short as possible. In the first problem setting we consider, a robot has to explore n rectangles. We show that no deterministic or randomized online algorithm can be better

Dispersing robots in an unknown environment

by Ryan Morlok, Maria Gini - in 7th International Symposium on Distributed Autonomous Robotic Systems (DARS , 2004
"... Summary. We examine how the choice of the movement algorithm can affect the success of a swarm of simple mobile robots attempting to disperse themselves in an unknown environment. We assume there is no central control, and the robots have limited processing power, simple sensors, and no active commu ..."
Abstract - Cited by 12 (1 self) - Add to MetaCart
Summary. We examine how the choice of the movement algorithm can affect the success of a swarm of simple mobile robots attempting to disperse themselves in an unknown environment. We assume there is no central control, and the robots have limited processing power, simple sensors, and no active

Autonomous Navigation in an Unknown Environment

by De Boelelaan A, Marten Klencke
"... This paper provides an overview of the issues that arise when designing a system that is capable of autonomous navigation in an unknown environment. In addition to presenting the necessary components for such a system and ways to model the environment, dynamic path planning algorithms are treated fr ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
This paper provides an overview of the issues that arise when designing a system that is capable of autonomous navigation in an unknown environment. In addition to presenting the necessary components for such a system and ways to model the environment, dynamic path planning algorithms are treated

Piecemeal Learning of an Unknown Environment

by Margrit Betke, Ronald L. Rivest, Mona Singh , 1995
"... We introduce a new learning problem: learning a graph by piecemeal search, in which the learner must return every so often to its starting point (for refueling, say). We present two linear-time piecemeal-search algorithms for learning city-block graphs: grid graphs with rectangular obstacles. ..."
Abstract - Cited by 49 (4 self) - Add to MetaCart
We introduce a new learning problem: learning a graph by piecemeal search, in which the learner must return every so often to its starting point (for refueling, say). We present two linear-time piecemeal-search algorithms for learning city-block graphs: grid graphs with rectangular obstacles.

Visual Navigation in Unknown Environments

by Teresa A. Vidal Calleja, Juan Andrade Cetto, Alberto Sanfeliu , 2007
"... Navigation in mobile robotics involves two tasks, keeping track of the robot’s position and moving according to a control strategy. In addition, when no prior knowledge of the environment is available, the problem is even more difficult, as the robot has to build a map of its surroundings as it move ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
Navigation in mobile robotics involves two tasks, keeping track of the robot’s position and moving according to a control strategy. In addition, when no prior knowledge of the environment is available, the problem is even more difficult, as the robot has to build a map of its surroundings
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