Viseras Ruiz, Alberto und Olariu, Calin (2014) A General Algorithm for Exploration with Gaussian Processes in Complex, Unknown Environments. In: IEEE International Conference on Robotics and Automation (ICRA). ICRA 2015, 20-30 May 2015, Seattle, USA. doi: 10.1109/ICRA.2015.7139667.
PDF
640kB |
Kurzfassung
We propose a novel algorithm for efficient exploration with a single agent in unknown environments, populated with static obstacles. Every next position is computed by employing environment inference on top of path planning. The path planning process that ensures obstacle avoidance uses a modified version of the A* algorithm and the inference is performed by direct sensing and by predicting values at yet-not-visited positions using Gaussian processes. We have validated our algorithm with densely measured data of an indoor magnetic field with significant spatial variations in different obstacle setups. Additionally, it is shown that it outperforms a previously developed algorithm, for obstacle-free scenarios, and the random movement of the agent.
elib-URL des Eintrags: | https://elib.dlr.de/118906/ | ||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Programmrede) | ||||||||||||
Titel: | A General Algorithm for Exploration with Gaussian Processes in Complex, Unknown Environments | ||||||||||||
Autoren: |
| ||||||||||||
Datum: | September 2014 | ||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/ICRA.2015.7139667 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Robotics, Exploration, Path Planning, Gaussian Processes | ||||||||||||
Veranstaltungstitel: | ICRA 2015 | ||||||||||||
Veranstaltungsort: | Seattle, USA | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsdatum: | 20-30 May 2015 | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Verkehr | ||||||||||||
HGF - Programmthema: | Verkehrsmanagement (alt) | ||||||||||||
DLR - Schwerpunkt: | Verkehr | ||||||||||||
DLR - Forschungsgebiet: | V VM - Verkehrsmanagement | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | V - Vabene++ (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||
Hinterlegt von: | Viseras Ruiz, Alberto | ||||||||||||
Hinterlegt am: | 09 Feb 2018 13:31 | ||||||||||||
Letzte Änderung: | 31 Jul 2019 20:16 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags