Title :
Autonomous exploration via regions of interest
Author :
Grabowski, Robert ; Khosla, Pradeep ; Choset, Howie
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
We describe a new paradigm for exploration of unknown spaces based on maximizing the understanding of obstacles rather than the exposure of free space. We look at the interaction between multiple sensor readings and how they combine to resolve obstacles. Taking a next best view approach, we generate an inverse sensor model that identifies regions in space where a new sensor reading has maximal utility with respect to increasing the resolution of that reading. Fusion of multiple models is exploited to generate regions of interest that direct exploration in such a way as to maximize the robots understanding of its space. These techniques are applied to a team of small robots called Millibots.
Keywords :
array signal processing; mobile robots; navigation; recursive functions; sensors; autonomous exploration; inverse sensor model; millibots; recursive process; regions of interest map; small robots; Costs; Data mining; Error correction; Extraterrestrial measurements; Fusion power generation; Inverse problems; Navigation; Orbital robotics; Robot sensing systems; Space exploration;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248887