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An Integrated Strategy for Autonomous Explorationof Spatial Processes in Unknown Environments

Karolj, Valentina und Viseras Ruiz, Alberto und Merino, Luis und Shutin, Dmitriy (2020) An Integrated Strategy for Autonomous Explorationof Spatial Processes in Unknown Environments. Sensors, 20 (13). Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s20133663. ISSN 1424-8220.

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Offizielle URL: https://www.mdpi.com/1424-8220/20/13/3663

Kurzfassung

Exploration of spatial processes, such as radioactivity or temperature is a fundamental task in many robotic applications. In the literature, robotic exploration is mainly carried out for applications where the environment is \textsl{a priori} known. However, for most real life applications this assumption often does not hold, specifically for disaster scenarios. In this paper, we propose a novel integrated strategy that allows a robot to explore a spatial process of interest in an unknown environment. To this end, we build upon two major blocks. First, we propose the use of Gaussian Processes (GP) to model the spatial process of interest, and process entropy to drive the exploration. Second, we employ registration algorithms for robot mapping and localization, and frontier-based exploration to explore the environment. However, map and process exploration can be conflicting goals. Our integrated strategy fuses the two aforementioned blocks through a trade-off between process and map exploration. We carry out extensive evaluations of our algorithm in simulated environments with respect to different baselines and environments setups using simulated GP data as a process at hand. Additionally, we perform experimental verification with a mobile holonomic robot exploring a simulated process in an unknown labyrinth environment. Demonstrated results show that our integrated strategy outperforms both frontier-based and GP entropy-driven exploration strategies.

elib-URL des Eintrags:https://elib.dlr.de/135430/
Dokumentart:Zeitschriftenbeitrag
Titel:An Integrated Strategy for Autonomous Explorationof Spatial Processes in Unknown Environments
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Karolj, Valentinavalentina.karolj (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Viseras Ruiz, AlbertoAlberto.ViserasRuiz (at) dlr.dehttps://orcid.org/0000-0001-5219-6533NICHT SPEZIFIZIERT
Merino, Luislmercab (at) upo.eshttps://orcid.org/0000-0003-4927-8647NICHT SPEZIFIZIERT
Shutin, Dmitriydmitriy.shutin (at) dlr.dehttps://orcid.org/0000-0002-6065-6453NICHT SPEZIFIZIERT
Datum:30 Juni 2020
Erschienen in:Sensors
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:20
DOI:10.3390/s20133663
Verlag:Multidisciplinary Digital Publishing Institute (MDPI)
Name der Reihe:Special Issue "Advanced Sensing and Control for Mobile Robotic Systems"
ISSN:1424-8220
Status:veröffentlicht
Stichwörter:Gaussian process; exploration; mapping; autonomous robots; mobile robots; information gathering
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Kommunikation und Navigation
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R KN - Kommunikation und Navigation
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben GNSS2/Neue Dienste und Produkte (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Shutin, Dmitriy
Hinterlegt am:16 Jul 2020 18:06
Letzte Änderung:28 Nov 2023 07:28

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