Exploration of an unknown environment with a differential drive disc robot

Guillermo Laguna, Rafael Murrieta-Cid, Hector M. Becerra, Rigoberto Lopez-Padilla, Steven M Lavalle

Research output: Contribution to journalConference article

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 languageEnglish (US)
Article number6907212
Pages (from-to)2527-2533
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Fingerprint

Robots
Sensors
Feedback

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 journalConference article

Laguna, Guillermo ; Murrieta-Cid, Rafael ; Becerra, Hector M. ; Lopez-Padilla, Rigoberto ; Lavalle, Steven M. / Exploration of an unknown environment with a differential drive disc robot. In: Proceedings - IEEE International Conference on Robotics and Automation. 2014 ; pp. 2527-2533.
@article{0c026f43c33d43afaaccbf59b4206b6c,
title = "Exploration of an unknown environment with a differential drive disc robot",
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.",
author = "Guillermo Laguna and Rafael Murrieta-Cid and Becerra, {Hector M.} and Rigoberto Lopez-Padilla and Lavalle, {Steven M}",
year = "2014",
month = "9",
day = "22",
doi = "10.1109/ICRA.2014.6907212",
language = "English (US)",
pages = "2527--2533",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

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 -