Planning exploration strategies for simultaneous localization and mapping

Robotics and Autonomous Systems

Volumn 54, Issue 4, 2006, Pages 314-331

  Tovar, Benjamín ^a   Muñoz Gómez, Lourdes ^b   Murrieta Cid, Rafael ^b   Alencastre Miranda, Moisés ^b   Monroy, Raúl ^b,c,d,e   Hutchinson, Seth ^a  

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

^b SCHOOL OF ENGINEERING AND SCIENCES   (Mexico)

^c National Research System   (Mexico)

^d CONACYT SNI National Research System ^*  (Mexico)

^e Mexican Society for Artificial Intelligence   (Mexico)

Author keywords

Exploration strategies; SLAM; Utility functions

Indexed keywords

EXPLORATION STRATEGIES; SLAM; UTILITY FUNCTIONS;

ACTUATORS; ALGORITHMS; FEATURE EXTRACTION; MATHEMATICAL MODELS; SENSORS;

STRATEGIC PLANNING;

EID: 33644879173     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2005.11.006     Document Type: Article

References (36)

1. A. Aho, J. Hopcropft, and D. Ullman Data Structures and Algorithms 1983 Addison-Wesley
2. J. Ahuactzin, E. Mazer, P. Bessire, Using genetic algorithms for robot motion planning, in: Proc European Conference on Artificial Intelligence, 1992
3. N. Ayache, and O. Faugeras Building registration and fusing noisy visual maps Journal of Robotics Research 7 6 1988 45 65
4. H. Bulata, M. Devy, Incremental construction of landmark-based and topological model of indoor environments by a mobile robot, in: IEEE Int. Conf. on Robotics and Automation, 1996
5. J. Castellanos, J. Montiel, J. Neira, and J. Tardós The SPmap: A probabilistic framework for simultaneous localization and map building IEEE Transactions on Robotics and Automation 15 5 1999 948 953
6. R. Chatila, J.-P. Laumond, Position referencing and consistent world modeling for mobile, in: IEEE Int. Conf. on Robotics and Automation, 1985
7. H. Choset, and J. Burdick Sensor based motion planning: The hierarchical generalized voronoi diagram J. Laumond M. Overmars Algorithms for Robotic Motion and Manipulation 1997 Springer Verlag
8. J.-L. Crowley, World modeling and position estimation for a mobile robot using ultrasonic ranging, in: IEEE Int. Conf. on Robotics and Automation, 1989
9. G. Dissanayake, P. Newman, S. Clark, H.F. Durrant-Whyte, and M. Csorba A solution to the simultaneous localisation and map building (SLAM) problem IEEE Transactions on Robotics and Automation 2001
10. A. Elfes Sonar-based real world mapping and navigation IEEE Transactions on Robotics and Automation 3 3 1987 249 264
11. H. Feder, J. Leonard, and C. Smith Adaptive mobile robot navigation and mapping International Journal of Robotics Research 18 1999 650 668
12. B. Gerkey, R. Vaughan, A. Howard, The player/stage project: Tools for multi-robot and distibuted sensor systems, in: Int. Conf. in Advanced Robotics, 2003
13. H. Gonzalez, E. Mao, J.-C. Latombe, T. Murali, A. Efrat, Planning robot motion strategies for efficient model construction, in: Robotics Research-The 9th Int. Symp, 1999
14. J. Gonzalez, A. Reina, A. Ollero, Map building for a mobile robot equipped with a 2d laser rangefinder, in: IEEE Int. Conf. on Robotics and Automation, 1994
15. H. H. González-Baños, and J.-C. Latombe Navigation strategies for exploring indoor environments International Journal of Robotics Research 21 10/11 2002 829 848
16. J. Hayet, M. Devy, F. Lerasle, Visual landmarks detection and recognition for mobile robot navigation, in: Int. Conf. on Computer Vision and Pattern Recognition, 2003
17. S. Hutchinson, Exploiting visual constraints in robot motion planning, in: IEEE Int. Conf. on Robotics and Automation, 1991
18. D. Huttenlocher, G. Klanderman, and J. Rucklidge Comparing images using the hausdorff distance IEEE Transactions on Pattern Analysis and Machine Intelligence 15 9 1993 850 863
19. K. Konolige, C. Ortiz, R. Vincent, A. Agno, M. Eriksen, B. Limketkai, M. Lewis, E. Briesemeister, L. Ruspini, D. Fox, J. Ko, B. Steward, L. Guibas, Centibots: Large scale robot teams, in: International Workshop on Multi-Robot Systems, 2003
20. A. Lazanas, and J.-C. Latombe Landmark-based robot navigation Algorithmica 13 1995 472 501
21. W. Lee, B. Kuipers, R. Froom, D. Pierce, The semantic hierarchy in robot learning, in: IEEE Int. Conf. on Robotics and Automation, 1993
22. A. Makarenko, B. Williams, F. Bourgault, H.F. Durrant-Whyte, An experiment in integrated exploration, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002
23. E. Mazer, J. Ahuactzin, and P. Bessire The ariane's clew algorithm Journal of Robotics Research 9 1998 295 316
24. M. Montemerlo, S. Thrun, D. Koller, B. Wegbreit, FastSLAM: A factored solution to the simultaneous localization and mapping problem, in: Proc. of the National Conference on Artificial Intelligence (AAAI), 2002
25. R. Murrieta-Cid, C. Parra, and M. Devy Visual navigation in natural environments: From range and color data to a landmark-based model Journal of Autonomous Robots 13 2 2002 143 168
26. R. Murrieta-Cid, C. Parra, M. Devy, B. Tovar, C. Esteves, Building multi-level models: From landscapes to landmarks, in: IEEE Int. Conf. on Robotics and Automation, 2002
27. P. Newman, M. Bosse, J. Leonard, Autonomous feature-based exploration, in: IEEE Int. Conf. on Robotics and Automation, 2003
28. J. O'Rourke Visibility 1997 CRC Press, Inc.
29. C. Parra, R. Murrieta-Cid, M. Devy, and M. Briot 3-d modelling and robot localization from visual and range data in natural scenes H. Christensen First Int. Conf on Vision Systems 1999 Springer Verlag
30. T. Shermer Recent results in art galleries Proceedings of the IEEE 80 9 1992
31. R. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, H. Younes, Coordination for multi-robot exploration and mapping, in: AAAI National Conference on Artificial Intelligence, 2000
32. R. Smith, M. Self, and P. Cheeseman Estimating uncertain spatial relationships in robotics I. Cox G. Wilfong Autonomous Robot Vehicles 1990 Springer Verlag
33. S. Teller, Automated urban model acquisition: Project rationale and status, in: DARPA Image Understanding Workshop, 1998
34. S. Thrun, W. Burgard, D. Fox, Probabilistic mapping of an environment by a mobile robot, in: IEEE Int. Conf. on Robotics and Automation, 1998
35. B. Tovar, R. Murrieta-Cid, C. Esteves, Robot motion planning for model building under perception constraints, in: International Symposium on Intelligent Robotic Systems, 2001
36. B. Tovar, R. Murrieta-Cid, C. Esteves, Robot motion planning for map building, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002