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Mobile robot exploration with potential information fields

Author
Vallve, J.; Andrade-Cetto, J.
Type of activity
Presentation of work at congresses
Name of edition
6th European Conference on Mobile Robots
Date of publication
2013
Presentation's date
2013
Book of congress proceedings
Proceedings of the 6th European Conference on Mobile Robots
First page
222
Last page
227
DOI
https://doi.org/10.1109/ECMR.2013.6698846 Open in new window
Project funding
AERIAL ROBOTICS COOPERATIVE ASSEMBLY SYSTEM
Repository
http://hdl.handle.net/2117/24948 Open in new window
URL
http://dx.doi.org/10.1109/ECMR.2013.6698846 Open in new window
Abstract
We present a mobile robot exploration strategy that computes trajectories that minimize both path and map entropies. The method evaluates joint entropy reduction and computes a potential ¿eld in robot con¿guration space using these joint entropy reduction estimates. The exploration trajectory is computed descending on the gradient of these ¿eld. The technique uses Pose SLAM as its estimation backbone. Very ef¿cient kernel convolution mechanisms are used to evaluate entropy reduction for each...
Citation
Vallve, J.; Andrade-Cetto, J. Mobile robot exploration with potential information fields. A: European Conference on Mobile Robots. "Proceedings of the 6th European Conference on Mobile Robots". Barcelona: 2013, p. 222-227.
Keywords
robots
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants