An exploration method for general robotic systems equipped with multiple sensors

This paper presents a novel method for sensor-based exploration of unknown environments by a general robotic system equipped with multiple sensors. The method is based on the incremental generation of a configuration-space data structure called Sensor-based Exploration Tree (SET). The expansion of the SET is driven by information at the world level, where the perception process takes place. In particular, the frontiers of the explored region efficiently guide the search for informative view configurations. Different exploration strategies may be obtained by instantiating the general SET method with different sampling techniques. Two such strategies are presented and compared by simulations in non-trivial 2D and 3D worlds. A completeness analysis of SET is given in the paper.