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Extracting surveillance graphs from robot maps (2008)
| Venue: | In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Citations: | 18 - 7 self |
BibTeX
@INPROCEEDINGS{Kolling08extractingsurveillance,
author = {Andreas Kolling and Stefano Carpin},
title = {Extracting surveillance graphs from robot maps},
booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2008},
pages = {2323--2328}
}
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Abstract
Abstract — GRAPH-CLEAR is a recently introduced theo-retical framework to model surveillance tasks accomplished by multiple robots patrolling complex indoor environments. In this paper we provide a first step to close the loop between its graph-based theoretical formulation and practical scenarios. We show how it is possible to algorithmically extract suitable so-called surveillance graphs from occupancy grid maps. We also identify local graph modification operators, called contractions, that alter the graph being extracted so that the original surveillance problem can be solved using less robots. The algorithm we present is based on the Generalized Voronoi Diagram, a structure that can be simply computed using watershed like algorithms. Our algorithm is evaluated by processing maps produced by mobile robots exploring indoor environments. It turns out that the proposed algorithm is fast, robust to noise, and opportunistically modifies the graph so that less expensive strategies can be computed. I.
Keyphrases
surveillance graph robot map abstract graph-clear graph-based theoretical formulation expensive strategy generalized voronoi diagram local graph modification operator mobile robot indoor environment first step suitable so-called surveillance graph original surveillance problem multiple robot practical scenario occupancy grid map complex indoor environment theo-retical framework surveillance task
