Abstract
This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. A landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.
| Original language | English (US) |
|---|---|
| Article number | 6907212 |
| Pages (from-to) | 2527-2533 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| DOIs | |
| State | Published - Sep 22 2014 |
| Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
Exploration of an unknown environment with a differential drive disc robot. / Laguna, Guillermo; Murrieta-Cid, Rafael; Becerra, Hector M.; Lopez-Padilla, Rigoberto; Lavalle, Steven M.
In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 2527-2533.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - Exploration of an unknown environment with a differential drive disc robot
AU - Laguna, Guillermo
AU - Murrieta-Cid, Rafael
AU - Becerra, Hector M.
AU - Lopez-Padilla, Rigoberto
AU - Lavalle, Steven M
PY - 2014/9/22
Y1 - 2014/9/22
N2 - This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. A landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.
AB - This paper addresses the problem of exploring an unknown, planar, polygonal and simply connected environment. A saliency object (i.e. A landmark) is located in the environment. The collision-free subset of the robot's configuration space is simply connected or it might have several connected components. The robot is a differential drive system shaped as a disc. The robot has limited sensing, namely it is incapable of measuring any distance or angle, or performing self localization. The exploration problem consists in discovering the environment with the robot's sensor. To solve this problem, a motion policy is developed based on simple sensor feedback and a complete exploration strategy is represented as a Moore Machine. The proposed exploration strategy guarantees that the robot will discover the largest possible region of the environment. Consequently, the robot will find the landmark or declare that an exploration strategy to find it does not exist.
UR - http://www.scopus.com/inward/record.url?scp=84929179610&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929179610&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907212
DO - 10.1109/ICRA.2014.6907212
M3 - Conference article
AN - SCOPUS:84929179610
SP - 2527
EP - 2533
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
M1 - 6907212
ER -