Rapid multi-robot exploration with topometric maps
Rapid multi-robot exploration with topometric maps
复制标题
利用地形图进行快速多机器人探索
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
B. Southall
中科院分区：
文献类型：
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作者：
Anthony Cowley;C. J. Taylor;B. Southall
多机器人地图构建已经发展到可以通过仅间歇性连接的多个机器人协作来收集高质量占用网格数据的程度。然而，分配这些智能体最有效地构建地图的任务却很少受到关注。不熟悉的、高度混乱的环境可能会混淆仅依赖于占用网格边界识别甚至基于几何特征的语义分类方法的探索策略。为了推理新颖、高度混乱的位置的部分地图，关于自由空间配置中的重要结构的假设可用于指导探索任务分配。将地图数据解析为对探索任务具有语义意义的位置，为人们可以推断出有效的探索策略奠定了基础。
Multi-robot map building has advanced to the point where high quality occupancy grid data may be collected by multiple robots collaborating with only intermittent connectivity. However, the tasking of these agents to most efficiently build the map is a problem that has seen less attention. Unfamiliar, highly cluttered environments can confound exploration strategies that rely solely on occupancy grid frontier identification or even semantic classification methods keyed on geometric features. To reason about partial maps of novel, highly cluttered locations, hypotheses about significant structure in the disposition of free space may be used to guide exploration task assignment. A parsing of map data into places with semantic significance to the exploration task provides a foundation from which one may infer an efficient exploration strategy.