Knowledge-base topological exploration for mobile robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00236199" target="_blank" >RIV/68407700:21230/15:00236199 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00236199
Result on the web
<a href="http://dx.doi.org/10.1109/ECMR.2015.7324190" target="_blank" >http://dx.doi.org/10.1109/ECMR.2015.7324190</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR.2015.7324190" target="_blank" >10.1109/ECMR.2015.7324190</a>
Alternative languages
Result language
angličtina
Original language name
Knowledge-base topological exploration for mobile robots
Original language description
This paper introduces novel graph exploration based on reasoning procedure. The proposed approach does not need any markers and only a similarity measures of the places and routes are used for decisions and loop closing. The edge selection process is driven by information gain, which is computed for each edge based on the probability of the loop closure and consecutive merges performed if the loop closure take place. The edge with high probability of closing the loop and high number of edge consecutively merged and therefore eliminated from the map is preferred. A loop-closing procedure used in the exploration algorithm utilizes the information about the environment structure. A priori knowledge of the environment properties is incorporated into the reasoning procedure as logic rules. Proposed exploration algorithm were experimentally verified in simulator and with real robot in indoor environment.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GP13-30155P" target="_blank" >GP13-30155P: Spatial cognition for mobile robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
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 the European Conference on Mobile Robots 2015
ISBN
978-1-4673-9163-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1-6
Publisher name
IEEE
Place of publication
Piscataway
Event location
Lincoln
Event date
Sep 2, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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