Directed Exploration Using a Modified Distance Transform | Zendy

Trevor Taylor | Zendy; Shlomo Geva | Zendy; Wageeh Boles | Zendy

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Directed Exploration Using a Modified Distance Transform

Author(s) -

Trevor Taylor,

Shlomo Geva,

Wageeh Boles

Publication year - 2006

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1109/dicta.2005.1578151

Subject(s) - robot , mobile robot , task (project management) , computer science , path (computing) , plan (archaeology) , motion planning , random walk , distributed computing , artificial intelligence , computer network , engineering , mathematics , statistics , systems engineering , archaeology , history

Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient.\udWhen multiple robots are involved, the algorithm also\udneeds to take advantage of the fact that the robots can\udshare the task. In this paper we discuss a modification\udto the well-known distance transform that satisfies\udthese requirements

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