Knowledge-base topological exploration for mobile robots

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/15:00236199

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Knowledge-base topological exploration for mobile robots

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Knowledge-base topological exploration for mobile robots

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/GP13-30155P" target="_blank" >GP13-30155P: Prostorové poznání pro mobilní roboty</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the European Conference on Mobile Robots 2015

ISBN

978-1-4673-9163-4

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Lincoln

Datum konání akce

2. 9. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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