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Sensor based planning: Using a honing strategy and local map method to implement the generalized voronoi graph. SPIE Mobile Robotics (1997)

by H Choset, I Konukseven, A Rizzi
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Topological Simultaneous Localization and Mapping (SLAM): Toward Exact Localization Without Explicit Localization

by Howie Choset, Keiji Nagatani - IEEE Transactions on Robotics and Automation , 2001
"... One of the critical components of mapping an unknown environment is the robot's ability to locate itself on a partially explored map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks place ..."
Abstract - Cited by 224 (10 self) - Add to MetaCart
One of the critical components of mapping an unknown environment is the robot's ability to locate itself on a partially explored map. This becomes challenging when the robot experiences positioning error, does not have an external positioning device, nor the luxury of engineered landmarks placed in its free space. This paper presents a new method for simultaneous localization and mapping that exploits the topology of the robot's free space to localize the robot on a partially constructed map. The topology of the environment is encoded in a topological map; the particular topological map used in this paper is the generalized Voronoi graph (GVG), which also encodes some metric information about the robot's environment, as well. In this paper, we present the low-level control laws that generate the GVG edges and nodes, thereby allowing for exploration of an unknown space. With these prescribed control laws, the GVG (or other topological map) can be viewed as an arbitrator for a hybrid control system that determines when to invoke a particular low-level controller from a set of controllers all working toward the high-level capability of mobile robot exploration. The main contribution, however, is using the graph structure of the GVG, via a graph matching process, to localize the robot. Experimental results verify the described work. Index Terms---Exploration, localization, mapping, mobile robots, motion planning, tologoical maps, Voronoi diagrams. I.
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...GVG, it is significant that the robot precisely locates itself on the meet points. Thus a meet point homing algorithm was introduced to trace a path that stably converges onto the meet point location =-=[10]-=-. The control law for homing onto a meet point is similar to the one for generating GVG edges, except and its Jacobian are2 and Therefore, at a meet point, i.e., , and the robot makes the following co...

Multi-Robot Collaboration for Robust Exploration

by Ioannis Rekleitis, Gregory Dudek, Evangelos Milios , 2000
"... This paper presents a new sensing modality for multirobot exploration. The approach is based on using a pair of robots that observe each other, and act in concert to reduce odometry errors. We assume the robots can both directly sense nearby obstacles and see each other. The proposed approach imp ..."
Abstract - Cited by 110 (14 self) - Add to MetaCart
This paper presents a new sensing modality for multirobot exploration. The approach is based on using a pair of robots that observe each other, and act in concert to reduce odometry errors. We assume the robots can both directly sense nearby obstacles and see each other. The proposed approach improves the quality of the map by reducing the inaccuracies that occur over time from dead reckoning errors. Furthermore, by exploiting the ability of the robots to see each other, we can detect opaque obstacles in the environment independently of their surface reectance properties. Two dierent algorithms, based on the size of the environment, are introduced, with a complexity analysis, and experimental results in simulation and with real robots. Keywords: Exploration, Mapping, Multiple Robots, Cooperative Localization. 1. Introduction In this paper we discuss the benets of cooperative localization during the exploration of a large environment. A new
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...een proposed that explore the interior of a polygon or a collection of polygons, under the assumption of perfect sensing and dead reckoning: the resulting map consists of a collection of linked lines =-=[50, 49, 60, 54, 14, 13, 15,39]-=-. Another approach is to construct a graph like map that would encode the topological structure of the explored environment [26, 25, 21, 22, 18,40, 57]. Real world applications have also been proposed...

Interactive motion planning using hardware-accelerated computation of generalized Voronoi diagrams

by Kenneth Hoff, III , Tim Culver , John Keyser , Ming C. Lin, Dinesh Manocha - IN IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION , 2000
"... We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voron ..."
Abstract - Cited by 30 (1 self) - Add to MetaCart
We present techniques for fast motion planning by using discrete approximations of generalized Voronoi diagrams, computed with graphics hardware. Approaches based on this diagram computation are applicable to both static and dynamic environments of fairly high complexity. We compute a discrete Voronoi diagram by rendering a three-dimensional distance mesh for each Voronoi site. The sites can be points, line segments, polygons, polyhedra, curves and surfaces. The computation of the generalized Voronoi diagram provides fast proximity query toolkits for motion planning. The tools provide the distance to the nearest obstacle stored in the Z-bu er, as well as the Voronoi boundaries, Voronoi vertices and weighted Voronoi graphs extracted from the frame bu er using continuation methods. We have implemented these algorithms and demonstrated their performance for path planning in a complex dynamic environment composed ofmorethan 140,000 polygons.

Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph

by Keiji Nagatani, Howie Choset, Sebastian Thrun - In IEEE Int. Conf. on Robotics and Automation, Lueven , 1998
"... . Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure t ..."
Abstract - Cited by 23 (4 self) - Add to MetaCart
. Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work. 1 Introduction Sensor based exploration enables a robot to explore an unknown environment, and using its sensor information, build a map of that environment. A critical component to this task is the robot's ability to ascertain its location in the partially explored map or to determine that it has entered new territory. Many conventional methods attempt to make this determination via a localization scheme which updates the (x; y) coordinates of the robot. Most robo...
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... it is significant that the robot determine a precise location of the meet point and thus a meet point honing algorithm was introduced to trace a path that stably converges onto a meet point location =-=[8]-=-. The control law for honing on a meet point is similar to the one for generating new GVG edges, except the G matrix and its Jacobian are G(x) = d 1 (x) \Gamma d 2 (x) d 1 (x) \Gamma d 3 (x) and rG(x)...

Practical local planning in the contact space

by Stephane Redon, Ming C. Lin - Proceedings of IEEE International Conference on Robotics and Automation , 2005
"... Abstract — Proximity query is an integral part of any motion planning algorithm and takes up the majority of planning time. Due to performance issues, most existing planners perform queries at fixed sampled configurations, sometimes resulting in missed collisions. Moreover, randomly determining coll ..."
Abstract - Cited by 11 (2 self) - Add to MetaCart
Abstract — Proximity query is an integral part of any motion planning algorithm and takes up the majority of planning time. Due to performance issues, most existing planners perform queries at fixed sampled configurations, sometimes resulting in missed collisions. Moreover, randomly determining collision-free configurations makes it difficult to obtain samples close to, or on, the surface of C-obstacles in the configuration space. In this paper, we present an efficient and practical local planning method in contact space which uses “continuous collision detection ” (CCD). We show how, using the precise contact information provided by a CCD algorithm, a randomized planner can be enhanced by efficiently sampling the contact space, as well as by constraining the sampling when the roadmap is expanded. We have included our contact-space planning methods in a freely available stateof-the-art planning library- the Stanford MPK library. We have been able to observe that in complex scenarios involving cluttered and narrow passages, which are typically difficult for randomized planners, the enhanced planner offers up to 70 times performance improvement when our contact-space sampling and constrained sampling methods are enabled.
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...ypically corresponds to a set of points that are furthest from the obstacle boundaries and have maximum clearance. Medial axis also has been used for many earlier motion planning algorithms [3], [7], =-=[8]-=-, [21], [23], though its practical use has been limited because of the difficulties in accurately computing the medial axis or generalized Voronoi diagrams. Our local planning method takes advantage o...

A visual landmark framework for mobile robot navigation

by J. B. Hayet, F. Lerasle, M. Devy - Image and Vision Computing , 2007
"... Vision has become a major element in mobile robot navigation and many strategies relying on images have already been proposed, based on environ-ment representation either by image databases[10] or by visual landmarks. Classically, the latter are detected by the robot, mapped into the environment ..."
Abstract - Cited by 7 (3 self) - Add to MetaCart
Vision has become a major element in mobile robot navigation and many strategies relying on images have already been proposed, based on environ-ment representation either by image databases[10] or by visual landmarks. Classically, the latter are detected by the robot, mapped into the environment
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...acterized to distinguish them from others. In that scope, landmark-based navigation research has started by using remarkable characteristics of officelike environments (3D room corners, lights. . . ) =-=[3,11,9]-=-, or collections of simple edge segments[16]. Point sets can also serve as landmarks when combined to define projective invariants[2]. Preprint submitted to Elsevier Science Most recent work make use ...

Probabilistic Uncertainty Modeling of Obstacle Motion for Robot Motion Planning∗

by Jun Miura, Yoshiaki Shirai
"... This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mo-bile robot motion planning. The method explicitly consid-ers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The uncertainty model represent ..."
Abstract - Cited by 2 (0 self) - Add to MetaCart
This paper describes a method of modeling the motion uncertainty of moving obstacles and its application to mo-bile robot motion planning. The method explicitly consid-ers three sources of uncertainty: path ambiguity, velocity uncertainty, and observation uncertainty. The uncertainty model represents the position of an obstacle at a certain time point by a probabilistic distribution over possible po-sitions on each possible path of the moving obstacle. Using this model, the best robot motion is selected in a decision-theoretic way. By considering not the range but the dis-tribution of the uncertainty, more efficient behaviors of the robot are realized.
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...gent graph is generated. Each path is represented as a set of consecutive segments on the graph. Skeletonization of free spaces in the environment, such as the one based on the Voronoi diagram (e.g., =-=[10]-=-), is also suitable for path candidate generation, especially for relatively narrow free spaces. Concerning the motion uncertainty on a path, let us consider the following simple example. Suppose you ...

Approved for public release; distribution is unlimited.

by Christopher Niles, Thehue Tran , 2000
"... The views, opinions, and/or findings contained in this report are those of the author(s) and should not be construed as an official Department of the Army posi-tion, policy, or decision, unless so designated by other documentation. The citation in this report of the names of commercial firms or comm ..."
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The views, opinions, and/or findings contained in this report are those of the author(s) and should not be construed as an official Department of the Army posi-tion, policy, or decision, unless so designated by other documentation. The citation in this report of the names of commercial firms or commercially available products or services does not constitute official endorsement by or approval of the U.S. Government. Destroy this report when no longer needed by any method that will prevent disclosure of its contents or reconstruction of the document. Do not return to the originator.

Qualitative Modeling of Indoor Environments from Visual Landmarks and Range Data

by Michel Devy Fr
"... This article describes the integration in a com-plete navigation system of an environment model-ing method based on a Generalized Voronoi Graph (GVG), relying on laser data, on the one hand, and of a localization method based on monocular vision landmark learning and recognition framework, on the ot ..."
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This article describes the integration in a com-plete navigation system of an environment model-ing method based on a Generalized Voronoi Graph (GVG), relying on laser data, on the one hand, and of a localization method based on monocular vision landmark learning and recognition framework, on the other hand. Such a system is intended to work in structured environments. It is shown that the two corresponding modules laser G VG construction and visual landmarks learning and recognition can cooperate to complete ach other, as image processing can be enhanced by some structural knowledge about the scene, whereas the G VG is annotated, even as far as its edges are concerned, by qualitative visual
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... the ultrasonic-based GeneralizedsVoronoi Graph (GVG) representation proposed bys*The stay of Claudia Esteves at LAAS-CNRS in France, issfunded by the French-Mexican lab in ComputersScience.sH.Choset =-=[2]-=-. This representation is a topologicalsgraph describing the paths on which the robot mustsnavigate; in this approach, nodes are associatedsto "distinctive places", where "distinctiveness" is determine...

Ear-based Exploration on Hybrid Metric/Topological Maps

by Qiwen Zhang, David Whitney, Florian Shkurti, Ioannis Rekleitis
"... Abstract — In this paper we propose a hierarchy of techniques for performing loop closure in indoor environments together with an exploration strategy designed to reduce uncertainty in the resulting map. We use the Generalized Voronoi Graph to represent the indoor environment and an extended Kalman ..."
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Abstract — In this paper we propose a hierarchy of techniques for performing loop closure in indoor environments together with an exploration strategy designed to reduce uncertainty in the resulting map. We use the Generalized Voronoi Graph to represent the indoor environment and an extended Kalman filter to track the pose of the robot and the position of the junctions (vertices) of the topological graph. Every time some vertex is revisited, the robot re-localizes and updates the filter accordingly. Finally, since the reduction of the map uncertainty remains one of the main concerns, the robot will optimize its schedule of revisiting junctions in the environment in order to reduce the accumulated uncertainty. Experimental results from a mobile robot equipped with a laser range-finder and results from realistic simulations that validate our approach are presented. I.
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...inate candidate GVG meetpoints when attempting to do loopclosure. Thus, the approach followed in their paper is most similar in spirit to the work done in this project. The work of Choset et al. [1], =-=[24]-=-, [25] has been the main proponent of the GVG in the existing literature. Beeson et al. [26] extended their work in cases where the operating range of the robots sensors is too small compared to the d...

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