A mobile robot exploration algorithm

Zelinsky, Alexander

doi:10.1109/70.182671

Cited by 217 publications

(91 citation statements)

References 24 publications

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“…On the other hand, they are applied within various applications; see for example, [53,69,91]. In the last case, DT are either applied by themselves or as an intermediate method such as: route planning and (robot) navigation [26,28,56,61,70], collision prevention [27], video surveillance [69,71], internal radiation therapy [13], handwriting recognition [62,72], (medical) image segmentation [9][10][11][13][14][15] (see also Fig. (1)), skeletonization [63,73], Voronoi tessellations [30,64], BouligandMinkowsky fractal dimension [74], Watershed algorithms [65], neuromorphometry [73,75], MRI data analysis [76,92], and volume rendering [36,77], to mention but a few.…”

Section: Current and Future Developmentsmentioning

confidence: 99%

“…In the last decade of the previous century, DT found their way to applications such as route planning [61] and (robot) navigation [26], collision prevention [27], handwriting recognition [62], image segmentation [9] (see also Fig. (1)), skeletonization [63], Voronoi tessellations [30,64], Watershed algorithms [65], and MRI data analysis [66].…”

Section: On More Than 30 Years Of Researchmentioning

confidence: 99%

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Distance Transforms: Academics Versus Industry

Broek

Schouten²

2011

CSENG

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Abstract:In image and video analysis, distance transformations (DT) are frequently used. They provide a distance image (DI) of background pixels to the nearest object pixel. DT touches upon the core of many applications; consequently, not only science but also industry has conducted a significant body of work in this field. However, in a vast majority of the cases this has not been published in major scientific outlets but has been filed as a patent application. This article provides a brief introduction into DT, including a specification of a few of the most prominent algorithms in the field. Next, a few interesting algorithms from the last decade are discussed. A benchmark including eight DT algorithms (i.e., city block, Danielsson's algorithm, chamfer 3-4, hexadecagonal region growing, a recent claimed true Euclidean DT, and three exact Euclidean DT) has been executed, which illustrates the intriguing complexity of DT in terms of precision and computational complexity. Subsequently, a selection of key patent applications are discussed that have emerged in this field, including their scientific merit and areas of application. Finally, this article's findings are summarized and discussed, with an emphasis on both the common ground of scientific articles and patent applications as well as the added value they can have to each other.

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Section: Current and Future Developmentsmentioning

confidence: 99%

Section: On More Than 30 Years Of Researchmentioning

confidence: 99%

Distance Transforms: Academics Versus Industry

Broek

Schouten²

2011

CSENG

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“…Exploration algorithms found in the literature are difficult to compare, since algorithms are usually tested in different scenarios under dissimilar conditions [5,27,6,7]. Consequently, in order to determine the best algorithms for a given scenario, it is necessary to test the set of techniques under the same conditions.…”

Section: Introductionmentioning

confidence: 99%

MRXT: The Multi-Robot Exploration Tool

Gil

Juliá

Reinoso

2015

International Journal of Advanced Robotic Systems

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This paper presents the multi-robot eXploration tool (MRXT) [Freely available at http://arvc.umh.es/mrxt], a new mobile robotics simulation tool whose aim is to experiment and understand some well-known multi-robot exploration algorithms. The application is designed to test and compare different multi-robot exploration algorithms as well as SLAM techniques. The application includes a wide range of exploration algorithms that differ in their level of coordination and integration with the SLAM algorithm. The tool is focused on describing the exploration problem in a simple manner so that it is useful for educational or research purposes. In comparison with other simulation tools, MRXT is the first application completely focused on the exploration problem, so it can be easily employed to understand interactively many of the issues regarding this general problem in mobile robotics. Furthermore, the paper describes some examples using the tool.

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“…Nowadays, robotics area has increased significantly in different fields, nevertheless the branch of social robotics has captured the attention of many researchers which have proposed diverse applications such as cooperative exploration [9], people evacuation [29] or robots companion [6], among others. Recently, there is an interesting and challenging "problem" that involves social and cooperative robotics.…”

Section: Introductionmentioning

confidence: 99%

Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission

Garrell

Sanfeliu

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing a "Discrete Time Motion" model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors.

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A mobile robot exploration algorithm

Cited by 217 publications

References 24 publications

Distance Transforms: Academics Versus Industry

Distance Transforms: Academics Versus Industry

MRXT: The Multi-Robot Exploration Tool

Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission

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