Evaluating the efficiency of frontier-based exploration strategies

Joint 41st International Symposium on Robotics and 6th German Conference on Robotics 2010, ISR/ROBOTIK 2010

Volumn 1, Issue , 2010, Pages 36-43

  Holz, Dirk ^a   Basilico, Nicola ^b   Amigoni, Francesco ^b   Behnke, Sven ^a  

^a UNIVERSITY OF BONN   (Germany)

^b POLITECNICO DI MILANO   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPARATIVE EVALUATIONS; EXPLORATION STRATEGIES; FRONTIER-BASED EXPLORATION;

ROBOTICS;

EID: 84881423870     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. A. Aggarwal, "The art gallery theorem: its variations, applications and algorithmic aspects," Ph. D. Thesis, John Hopkins University, 1984.
2. F. Amigoni and A. Gallo, "A Multi-Objective Exploration Strategy for Mobile Robots," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, pp. 3861-3866.
3. W. Burgard, M. Moors, C. Stachniss, and F. Schneider, "Coordinated Multi-Robot Exploration," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 376-386, 2005.
4. R. Sim and N. Roy, "Global A-Optimal Robot Exploration in SLAM," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), April 2005, pp. 661-666.
5. C. Stachniss and W. Burgard, "Exploring unknown environments with mobile robots using coverage maps," in Proceedings of the International Conference on Artificial Intelligence (IJCAI), 2003, pp. 1127-1134.
6. D. Lee and M. Recce, "Quantitative evaluation of the exploration strategies of a mobile robot," International Journal of Robotics Research, vol. 16, no. 4, pp. 413-447, 1997.
7. F. Amigoni, "Experimental Evaluation of Some Exploration Strategies for Mobile Robots," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 2818-2823.
8. B. Yamauchi, "A Frontier Based Approach for Autonomous Exploration," in Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 1997, pp. 146-151.
9. H. H. González-Baños and J. Latombe, "Navigation Strategies for Exploring Indoor Environments," International Journal of Robotics Research, vol. 21, pp. 829-848, 2002.
10. H. Moravec and A. E. Elfes, "High Resolution Maps from Wide Angle Sonar," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1985, pp. 116-121.
11. S. Koenig, C. Tovey, and W. Halliburton, "Greedy Mapping of Terrain," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2001, pp. 3594-3599.
12. D. Holz and S. Behnke, "Sancta simplicitas - on the efficiency and achievable results of SLAM using ICP-Based Incremental Registration," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
13. S. Thrun, "Learning Metric-Topological Maps for Indoor Mobile Robot Navigation," Artificial Intelligence, vol. 99, no. 1, pp. 21-71, 1998.
14. K. M.Wurm, C. Stachniss, andW. Burgard, "Coordinated Multi-Robot Exploration using a Segmentation of the Environment," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008, pp. 1160-1165.
15. R. Fabbri, L. da F. Costa, J. C. Torelli, and O. M. Bruno, "2d euclidean distance transform algorithms: A comparative survey," ACM Computing Surveys, vol. 40, no. 1, pp. 2:1-2:44, 2008.
16. S. J. Fortune, "Voronoi Diagrams and Delaunay Triangulations," E. Goodman and J. O'Rourke, Eds. CRC Press, New York, 1998, pp. 377-388.
17. D. Holz, G. K. Kraetzschmar, and E. Rome, "Robust and Computationally Efficient Navigation in Domestic Environments," in RoboCup 2009: Robot Soccer World Cup XIII, ser. Lecture Notes in Computer Science, J. Baltes, M. Lagoudakis, T. Naruse, and S. Shiry, Eds. Germany: Springer, 2009, vol. 5949/2010, pp. 104-115.