Directed Exploration using a Modified Distance Transform
Taylor, Trevor, Geva, Shlomo, & Boles, Wageeh W. (2005) Directed Exploration using a Modified Distance Transform. In Lovell, Brian C., Maeder, Anthony J., Ourselin, Sebastien, & Caelli, Terry (Eds.) Digital Image Computing Techniques and Applications (DICTA 2005), 6-8 December, 2005, Cairns, Queensland, Australia.
Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient. When multiple robots are involved, the algorithm also needs to take advantage of the fact that the robots can share the task. In this paper we discuss a modification to the well-known distance transform that satisfies these requirements.
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|Item Type:||Conference Paper|
|Keywords:||mobile robots, collaborative mapping, map building, exploration, distance transform|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)|
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > QUT Faculties & Divisions > Faculty of Science and Technology
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2005 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||12 Dec 2005|
|Last Modified:||29 Feb 2012 23:11|
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