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Results 1 - 10
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237
Real-Time Systems
, 2000
"... Collision avoidance is an important topic in multi-robot systems. Existing multi-robot pathfinding approaches ignore sideswipe collisions among robots (i.e., only consider the collision which two agents try to occupy the same node during the same time-step) [1, 3, 4], and allow diagonal move between ..."
Abstract
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Cited by 602 (11 self)
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between two adjacent nodes (e.g., Figure 1(b)). However, in many real world applications, sideswipe collisions may also block robots ’ movements or cause deadlocks. For example, as shown in Figure 1, if the size of two robots is as big as the grid size they occupied, collisions will happen not only
A frontier-based approach for autonomous exploration
- In Proceedings of the IEEE International Symposium on Computational Intelligence, Robotics and Automation
, 1997
"... We introduce a new approach for exploration based on the concept of frontiers, regions on the boundary between open space and unexplored space. By moving to new frontiers, a mobile robot can extend its map into new territory until the entire environment has been explored. We describe a method for de ..."
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Cited by 189 (11 self)
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for detecting frontiers in evidence grids and navigating to these frontiers. We also introduce a technique for minimizing specular reflections in evidence grids using laser-limited sonar. We have tested this approach with a real mobile robot, exploring real-world office environments cluttered with a variety
Information Based Adaptive Robotic Exploration
- in Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
, 2002
"... Exploration involving mapping and concurrent localization in an unknown environment is a pervasive task in mobile robotics. In general, the accuracy of the mapping process depends directly on the accuracy of the localization process. This paper address the problem of maximizing the accuracy of the m ..."
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Cited by 94 (0 self)
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Exploration involving mapping and concurrent localization in an unknown environment is a pervasive task in mobile robotics. In general, the accuracy of the mapping process depends directly on the accuracy of the localization process. This paper address the problem of maximizing the accuracy
Mobile Robot Exploration and Map-Building with Continuous Localization
- In Proceedings of the 1998 IEEE/RSJ International Conference on Robotics and Automation
, 1998
"... Our research addresses how to integrate exploration and localization for mobile robots. A robot exploring and mapping an unknown environment needs to know its own location, but it may need a map in order to determine that location. In order to solve this problem, we have developed ARIEL, a mobile ro ..."
Abstract
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Cited by 100 (5 self)
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robot system that combines frontierbased exploration with continuous localization. ARIEL explores by navigating to frontiers, regions on the boundary between unexplored space and space that is known to be open. ARIEL finds these regions in the occupancy grid map that it builds as it explores the world
Heterogeneous Teams of Modular Robots for Mapping and Exploration
- Autonomous Robots
, 2000
"... In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation, and mobilit ..."
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Cited by 90 (8 self)
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In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation
Using Real-Time Stereo Vision for Mobile Robot Navigation
- Autonomous Robots
, 2000
"... This paper describes a working stereo-vision-based mobile robot that can navigate and autonomously explore its environment safely while building occupancy grid maps of the environment. We present a method for reducing stereo vision disparity images to two dimensional map information. Stereo vision h ..."
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Cited by 115 (11 self)
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This paper describes a working stereo-vision-based mobile robot that can navigate and autonomously explore its environment safely while building occupancy grid maps of the environment. We present a method for reducing stereo vision disparity images to two dimensional map information. Stereo vision
Learning Maps for Indoor Mobile Robot Navigation
- ARTIFICIAL INTELLIGENCE (ACCEPTED FOR PUBLICATION)
, 1997
"... Autonomous robots must be able to learn and maintain models of their environments. Research on mobile robot navigation has produced two major paradigms for mapping indoor environments: grid-based and topological. While grid-based methods produce accurate metric maps, their complexity often prohibits ..."
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Cited by 92 (10 self)
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Autonomous robots must be able to learn and maintain models of their environments. Research on mobile robot navigation has produced two major paradigms for mapping indoor environments: grid-based and topological. While grid-based methods produce accurate metric maps, their complexity often
Global a-optimal robot exploration in slam
- In ICRA
, 2005
"... Abstract — It is well-known that the Kalman filter for simultaneous localization and mapping (SLAM) converges to a fully correlated map in the limit of infinite time and data [1]. However, the rate of convergence of the map has a strong dependence on the order of the observations. We show that conve ..."
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Cited by 58 (4 self)
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Abstract — It is well-known that the Kalman filter for simultaneous localization and mapping (SLAM) converges to a fully correlated map in the limit of infinite time and data [1]. However, the rate of convergence of the map has a strong dependence on the order of the observations. We show
Exploring simple grid polygons
- In 11th Internat. Comput. Combin. Conf
"... Abstract. We investigate the online exploration problem of a shortsighted mobile robot moving in an unknown cellular room without obstacles. The robot has a very limited sensor; it can determine only which of the four cells adjacent to its current position are free and which are blocked, i. e., unac ..."
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Cited by 7 (4 self)
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Abstract. We investigate the online exploration problem of a shortsighted mobile robot moving in an unknown cellular room without obstacles. The robot has a very limited sensor; it can determine only which of the four cells adjacent to its current position are free and which are blocked, i. e
Results 1 - 10
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237
