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Directed Exploration using a Modified Distance Transform

By Trevor Taylor, Shlomo Geva and Wageeh W. Boles

Abstract

Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient.\ud When multiple robots are involved, the algorithm also\ud needs to take advantage of the fact that the robots can\ud share the task. In this paper we discuss a modification\ud to the well-known distance transform that satisfies\ud these requirements

Topics: 080104 Computer Vision, 080101 Adaptive Agents and Intelligent Robotics, mobile robots, collaborative mapping, map building, exploration, distance transform
Publisher: IEEE
Year: 2005
DOI identifier: 10.1109/DICTA.2005.1578151
OAI identifier: oai:eprints.qut.edu.au:2871

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