Publication

Exploration on continuous Gaussian process frontier maps

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2014

Pages

6077-6082

Doc link

http://dx.doi.org/10.1109/ICRA.2014.6907754

File

Download the digital copy of the doc pdf document

Abstract

An information-driven autonomous robotic explo- ration method on a continuous representation of unknown envi- ronments is proposed in this paper. The approach conveniently handles sparse sensor measurements to build a continuous model of the environment that exploits structural dependencies without the need to resort to a fixed resolution grid map. A gradient field of occupancy probability distribution is regressed from sensor data as a Gaussian process providing frontier boundaries for further exploration. The resulting continuous global frontier surface completely describes unexplored regions and, inherently, provides an automatic stop criterion for a desired sensitivity. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps.

Categories

robots.

Scientific reference

M.G. Jadidi, J. Valls Miró, R. Valencia and J. Andrade-Cetto. Exploration on continuous Gaussian process frontier maps, 2014 IEEE International Conference on Robotics and Automation, 2014, Hong Kong, pp. 6077-6082.