Exploring Unknown Environments with Mobile Robots using Coverage Maps
Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence. Pages 1127-1133.
Abstract
In this paper we introduce coverage maps as a new way of representing the environment of a mobile robot. Coverage maps store for each cell of a given grid a posterior about the amount the corresponding cell is covered by an obstacle. Using this representation a mobile robot can more accurately reason about its uncertainty in the map of the environment than with standard occupancy grids. We present a model for proximity sensors designed to update coverage maps upon sensory input. We also describe how coverage maps can be used to formulate a decision-theoretic approach for mobile robot exploration. We present experiments carried out with real robots in which accurate maps are build from noisy ultrasound data. Finally, we present a comparison of different view-point selection strategies for mobile robot exploration.
@inproceedings{ijcai2003p161,
title = {Exploring Unknown Environments with Mobile Robots using Coverage Maps},
author = {Stachniss, Cyrill and Burgard, Wolfram},
booktitle = {Proceedings of the Eighteenth International Joint Conference on
Artificial Intelligence, {IJCAI-03}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Georg Gottlob},
pages = {1127--1133},
year = {2003},
url = {https://ijcai.org/proceedings/2003/161},
}
TY - CPAPER TI - Exploring Unknown Environments with Mobile Robots using Coverage Maps AU - Stachniss, Cyrill AU - Burgard, Wolfram T2 - Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence, IJCAI-03 PB - International Joint Conferences on Artificial Intelligence PY - 2003 SP - 1127 EP - 1133 UR - https://ijcai.org/proceedings/2003/161 ER -Copied
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