Using incomplete online metric maps for topological exploration with the Gap Navigation Tree

Murphy, Liz & Newman, Paul (2008) Using incomplete online metric maps for topological exploration with the Gap Navigation Tree. In Schaal , S & Sukhatme, G.S. (Eds.) 2008 IEEE International Conference on Robotics and Automation, IEEE Computer Society, Pasadena, CA , pp. 2792-2797.

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This paper presents a general, global approach to the problem of robot exploration, utilizing a topological data structure to guide an underlying Simultaneous Localization and Mapping (SLAM) process. A Gap Navigation Tree (GNT) is used to motivate global target selection and occluded regions of the environment (called “gaps”) are tracked probabilistically. The process of map construction and the motion of the vehicle alters both the shape and location of these regions. The use of online mapping is shown to reduce the difficulties in implementing the GNT.

Impact and interest:

4 citations in Scopus
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3 citations in Web of Science®

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ID Code: 48428
Item Type: Conference Paper
Refereed: Yes
Keywords: Covariance matrix, Uncertainty , Tree data structures , Space exploration , Simultaneous localization and mapping, Mobile robots, Navigation , Robotics and automation, Entropy, Data mining
DOI: 10.1109/ROBOT.2008.4543633
ISBN: 978-1-4244-1646-2
ISSN: 1050-4729
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 03 Feb 2012 02:18
Last Modified: 29 Feb 2012 14:35

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