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Authors: Jens Wettach and Karsten Berns

Affiliation: University of Kaiserslautern, Germany

ISBN: 978-989-758-198-4

Keyword(s): Robotics, Exploration, Indoor Environments, Experiments, Evaluation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

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 several formats:
Wettach, J.; Wettach, J.; Berns, K. 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

@conference{icinco16,
author={Jens Wettach. and Jens Wettach. and Karsten Berns. 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},
}

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 - Wettach, J.
AU - Berns, K.
AU - Berns, K.
PY - 2016
SP - 280
EP - 287
DO - 10.5220/0005977502800287

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