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Exploration on Continuous Gaussian Process Frontier Maps
Fac Engn & IT, Univ Technol Sydney, Sydney NSW, Australia.
Fac Engn & IT, Univ Technol Sydney, Sydney NSW, Australia.
Örebro University, School of Science and Technology.
Inst Robot & Informat Ind, Consejo Superior de Investigaciones Científicas (CSIC), Universitat Politècnica de Catalunya (UPC), Barcelona, Spain.ORCID iD: 0000-0002-6354-8941
2014 (English)In: 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2014, p. 6077-6082Conference paper, Published paper (Refereed)
Abstract [en]

An information-driven autonomous robotic exploration method on a continuous representation of unknown environments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a continuous model of the environment that exploits structural dependencies without the need to resort to a fixed resolution grid map. A gradient field of occupancy probability distribution is regressed from sensor data as a Gaussian process providing frontier boundaries for further exploration. The resulting continuous global frontier surface completely describes unexplored regions and, inherently, provides an automatic stop criterion for a desired sensitivity. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. p. 6077-6082
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-55395ISI: 000377221106017Scopus ID: 2-s2.0-84929180055ISBN: 978-1-4799-3685-4 (print)OAI: oai:DiVA.org:oru-55395DiVA, id: diva2:1072046
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 31-JUN 07, 2014, Hong Kong, PEOPLES R CHINA
Available from: 2017-02-07 Created: 2017-02-07 Last updated: 2018-06-19Bibliographically approved

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Valencia, RafaelAndrade-Cetto, Juan
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf