Experimental Evaluation of Some Indoor Exploration Strategies

Jens Wettach, Karsten Berns

Abstract

A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. This paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.

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Paper Citation


in Harvard Style

Wettach J. and Berns K. (2016). Experimental Evaluation of Some Indoor Exploration Strategies . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 280-287. DOI: 10.5220/0005977502800287


in Bibtex Style

@conference{icinco16,
author={Jens Wettach and Karsten Berns},
title={Experimental Evaluation of Some Indoor Exploration Strategies},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={280-287},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005977502800287},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Experimental Evaluation of Some Indoor Exploration Strategies
SN - 978-989-758-198-4
AU - Wettach J.
AU - Berns K.
PY - 2016
SP - 280
EP - 287
DO - 10.5220/0005977502800287