On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00210409" target="_blank" >RIV/68407700:21230/13:00210409 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ECMR.2013.6698844" target="_blank" >http://dx.doi.org/10.1109/ECMR.2013.6698844</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR.2013.6698844" target="_blank" >10.1109/ECMR.2013.6698844</a>
Alternative languages
Result language
angličtina
Original language name
On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration
Original language description
Frontier-based approach can be considered as a de facto standard method for a mobile robot exploration task. Many variants have been proposed; however, relatively little attention has been made to study the influence of goal candidates generation to theperformance of the exploration. In regular approaches, frontiers are considered as eventual goals for the next-best-view selection using a utility function combining a distance cost and expected information gain. The aim of this paper is to show that using goal candidates that are independent of the distance cost can improve the performance of exploration strategies. The found insights are supported by a statistical evaluation of thousands of trials performed for various environments.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/GP13-18316P" target="_blank" >GP13-18316P: Self-Organizing Maps for Multi-Goal Path Planning Tasks</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 6th European Conference on Mobile Robots
ISBN
978-1-4799-0263-7
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
210-215
Publisher name
Institut de Rob?tica i Inform?tica Industrial
Place of publication
Barcelona
Event location
Barcelona
Event date
Sep 25, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000330234600034