3 June 2014 Object guided autonomous exploration for mobile robots in indoor environments
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Abstract
Autonomous mobile robotic teams are increasingly used in exploration of indoor environments. Accurate modeling of the world around the robot and describing the interaction of the robot with the world greatly increases the ability of the robot to act autonomously. This paper demonstrates the ability of autonomous robotic teams to find objects of interest. A novel feature of our approach is the object discovery and the use of it to augment the mapping and navigation process. The generated map can then be decomposed into semantic regions while also considering the distance and line of sight to anchor points. The advantage of this approach is that the robot can return a dense map of the region around an object of interest. The robustness of this approach is demonstrated in indoor environments with multiple platforms with the objective of discovering objects of interest.
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Carlos Nieto-Granda, Carlos Nieto-Granda, Siddarth Choudhary, Siddarth Choudhary, John G. Rogers, John G. Rogers, Jeff Twigg, Jeff Twigg, Varun Murali, Varun Murali, Henrik I. Christensen, Henrik I. Christensen, } "Object guided autonomous exploration for mobile robots in indoor environments", Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840M (3 June 2014); doi: 10.1117/12.2050818; https://doi.org/10.1117/12.2050818
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