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Exploration with Active Loop Closing: A Trade-off between Exploration Efficiency and Map Quality

Lehner, Hannah and Schuster, Martin J. and Bodenmüller, Tim and Kriegel, Simon (2017) Exploration with Active Loop Closing: A Trade-off between Exploration Efficiency and Map Quality. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IROS 2017, 24-28 Sep 2017, Vancouver, Canada.

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A robotic system for search and rescue missions needs to efficiently explore and map new areas. In this paper, we present an integrated exploration strategy with active loop closing, which balances between the exploration speed and map quality. Specifically, it finds a trade-off between moving towards unknown space to gather new information and revisiting previous locations to improve localization accuracy and map quality through loop closures. Our integrated exploration is built upon a submap-based 6D SLAM system. Loop closure constraints originate from pairwise submap matches, which allow the optimization of an underlying SLAM graph. During exploration, we employ the expected information gain as well as the robot's localization uncertainty estimates to weigh exploration and revisiting actions online. We introduce the match effect as the expected impact of a loop closure on global optimization and consider this novel criterion together with the match likelihood and cost when evaluating the utility of revisiting previous locations. To demonstrate our approach, we present simulated and real-world experiments, comparing two variants of our novel method to a frontier-based exploration.

Item URL in elib:https://elib.dlr.de/116729/
Document Type:Conference or Workshop Item (Speech)
Title:Exploration with Active Loop Closing: A Trade-off between Exploration Efficiency and Map Quality
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lehner, Hannahhannah.lehner (at) dlr.dehttps://orcid.org/0000-0001-5377-4155
Schuster, Martin J.martin.schuster (at) dlr.deUNSPECIFIED
Bodenmüller, Timtim.bodenmueller (at) dlr.deUNSPECIFIED
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Date:September 2017
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Autonomous Exploration, Sensor-based Planning, Robotics
Event Title:IROS 2017
Event Location:Vancouver, Canada
Event Type:international Conference
Event Dates:24-28 Sep 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Lehner, Hannah
Deposited On:08 Dec 2017 08:27
Last Modified:08 Dec 2017 08:27

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