{"type":"ScholarlyArticle","title":"Exploring Unknown Environments with Mobile Robots using Coverage Maps","authors":[{"name":"Cyrill Stachniss","slug":"cyrill-stachniss","given":"Cyrill","family":"Stachniss","affiliation":""},{"name":"Wolfram Burgard","slug":"wolfram-burgard","given":"Wolfram","family":"Burgard","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/2003/161","pdf":"https://ijcai.org/proceedings/2003/0161.pdf","markdown":"https://ijcai.org/proceedings/2003/161.md","bibtex":"https://ijcai.org/proceedings/2003/bibtex/161","volume":{"slug":"2003","title":"Proceedings of the Eighteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2003","url":"https://ijcai.org/proceedings/2003/","year":2003,"location":"Acapulco, Mexico","dates":"","editors":"Georg Gottlob","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":161,"pages":{"first":1127,"last":1133},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}