Using Multiple Markers In Graph Exploration

Gregory Dudek; Michael Jenkin; Evangelos Milios; David Wilkes

doi:10.1117/12.969871

1 March 1990 Using Multiple Markers In Graph Exploration

Gregory Dudek, Michael Jenkin, Evangelos Milios, David Wilkes

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969871
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

A fundamental problem in robotics is that of exploring an unknown environment. Most current approaches to exploration make use of a global distance metric that is used to relate past sensory experiences to local measurements. Rather than rely on such an assumption we consider the more general problem of exploration without a distance metric, as is typical of exploring using only visual information: we propose robot exploration as graph building. In earlier papers we have shown that it is not possible for a robot to successfully explore a metricless environment without aid, but that by augmenting the robot with a single marker (which can be put down or picked up at will) it is possible for a robot to map its environment[1]. In this paper we present the extension of our algorithm to the case of k markers, and comment on the resulting decrease in time for exploration. By defining a minimal model for the world and the sensory ability of the robot, we separate spatial reasoning from visual perception. In this paper we deal only with the spa-tial reasoning component of the exploration problem, and assume that visual perception can identify the marker and the edges incident on the current location.

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Gregory Dudek, Michael Jenkin, Evangelos Milios, and David Wilkes "Using Multiple Markers In Graph Exploration", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969871

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