Rapid Multi-Robot Exploration with Topometric Maps
Multi-robot map building has advanced to the point where high quality occupancy grid data may be collected by multiple robots collaborating with only intermittent connectivity. However, the tasking of these agents to most efficiently build the map is a problem that has seen less attention. Unfamiliar, highly cluttered environments can confound exploration strategies that rely solely on occupancy grid frontier identification or even semantic classification methods keyed on geometric features. To reason about partial maps of novel, highly cluttered locations, hypotheses about significant structure in the disposition of free space may be used to guide exploration task assignment. A parsing of map data into places with semantic significance to the exploration task provides a foundation from which one may infer an efficient exploration strategy.
Anthony Cowley Camillo J. Taylor Ben Southall
GRASP Laboratory University of Pennsylvania, USA SRI International Sarnoff
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1044-1049
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）