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Proceedings Paper

Object guided autonomous exploration for mobile robots in indoor environments
Author(s): Carlos Nieto-Granda; Siddarth Choudhary; John G. Rogers III; Jeff Twigg; Varun Murali; Henrik I. Christensen
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Paper Abstract

Autonomous mobile robotic teams are increasingly used in exploration of indoor environments. Accurate modeling of the world around the robot and describing the interaction of the robot with the world greatly increases the ability of the robot to act autonomously. This paper demonstrates the ability of autonomous robotic teams to find objects of interest. A novel feature of our approach is the object discovery and the use of it to augment the mapping and navigation process. The generated map can then be decomposed into semantic regions while also considering the distance and line of sight to anchor points. The advantage of this approach is that the robot can return a dense map of the region around an object of interest. The robustness of this approach is demonstrated in indoor environments with multiple platforms with the objective of discovering objects of interest.

Paper Details

Date Published: 3 June 2014
PDF: 6 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840M (3 June 2014); doi: 10.1117/12.2050818
Show Author Affiliations
Carlos Nieto-Granda, Georgia Institute of Technology (United States)
Siddarth Choudhary, Georgia Institute of Technology (United States)
John G. Rogers III, U.S. Army Research Lab. (United States)
Jeff Twigg, U.S. Army Research Lab. (United States)
Varun Murali, Georgia Institute of Technology (United States)
Henrik I. Christensen, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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