Ambler: an autonomous rover for planetary exploration

Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom M.; Simmons, Reid; Whittaker, William

doi:10.1109/2.30717

Cited by 176 publications

(93 citation statements)

References 5 publications

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“…14 To overcome this question, some researches introduce the elevation map (or 2.5D maps), which is a compact two-dimensional grid representation where each cell of the map stores the height value of the mapped place. Bares et al 15 and Hebert et al 16 have done the first investigations with elevation maps in robotics applications employing the proposed approach for planetary rovers exploration. Recent researches have applied elevation maps for outdoor localization and mapping and for loop closing.…”

Section: Related Workmentioning

confidence: 99%

Occupancy-elevation grid: an alternative approach for robotic mapping and navigation

Souza¹,

Gonçalves²

2015

Robotica

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SUMMARYThis paper proposes an alternative environment mapping method for accurate robotic navigation based on 3D information. Typical techniques for 3D mapping using occupancy grid require intensive computational workloads in order to both build and store the map. This work introduces an Occupancy-Elevation Grid (OEG) mapping technique, which is a discrete mapping approach where each cell represents the occupancy probability, the height of the terrain and its variance. This representation allows a mobile robot to know with an accurate degree of certainty whether a place in the environment is occupied by an obstacle and the height of such obstacle. Thus, based on its hardware characteristics, it can make calculations to decide if it is possible to traverse that specific place. In general, the map representation introduced can be used in conjunction with any kind of distance sensor. In this work, we use laser range data and stereo system data with a probabilistic treatment. The resulting maps allow the execution of tasks as decision making for autonomous navigation, exploration, localization and path planning, considering the existence and the height of the obstacles. Experiments carried out with real data demonstrate that the proposed approach yields useful maps for autonomous navigation.

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Section: Related Workmentioning

confidence: 99%

Occupancy-elevation grid: an alternative approach for robotic mapping and navigation

Souza¹,

Gonçalves²

2015

Robotica

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“…This parameterisation naturally eschews the non-functional relation between elevation z and (x, y) location that is commonly found in terrain mapping formulations ( Figure 2). By keeping each operation distinct, we also decouple robot trajectory estimation V (q), from that of the regression of the laser data G(q) 1 . This permits independent relaxation of the sensor trajectory (which, for example, could be in response to loop closure events).…”

Section: Non-functional Surface Representation Via Sensor Configmentioning

confidence: 99%

“…Consequently, much recent work in 3D reconstruction techniques trace their origin to this domain. Common approaches include discrete 2D, 2.5D and 3D methods such as [10], [1], [17], [29], which represent the world as a regular grid of cells or voxels. Each cell stores the probability of being occupied.…”

Section: Related Workmentioning

confidence: 99%

Efficient Non-Parametric Surface Representations Using Active Sampling for Push Broom Laser Data

Smith

Posner

Newman

2010

Robotics: Science and Systems VI

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Abstract-This paper concerns the creation of efficient surface representations from laser point clouds. We produce a continuous, implicit, non-parametric representation with an update time that is constant. The algorithm places no restriction on the complexity of the underlying workspace surfaces and automatically prunes redundant data via an information theoretic criterion. This criterion makes the use of Gaussian Process regression a natural choice. We adopt a formulation which handles the typical non-functional relation between XY-location and elevation allowing us to map arbitrary environments. Results are presented that use real and synthetic data to analyse the trade-off between compression level and reconstruction error. We attain decimation factors in excess of two orders of magnitude without significant degradation in fidelity.

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“…Behavior maps are directly generated from elevation maps, i.e. two-dimensional grids storing in each cell the corresponding height of the terrain surface [3], [12], and a set of skill descriptions. Skill descriptions contain a set of fuzzy rules for the classification of structures they can handle, a set of spatial constraints encoding preconditions required for their execution, a 1 This research was partially supported by DFG as part of the collaborative research center SFB/TR-8 Spatial Cognition R7 cost function utilized for A* planning on the map, and the skill routine to be executed.…”

Section: Introductionmentioning

confidence: 99%

Behavior maps for online planning of obstacle negotiation and climbing on rough terrain

Dornhege

Kleiner

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-To autonomously navigate on rough terrain is a challenging problem for mobile robots, requiring the ability to decide whether parts of the environment can be traversed or have to be bypassed, which is commonly known as Obstacle Negotiation (ON). In this paper, we introduce a planning framework that extends ON to the general case, where different types of terrain classes directly map to specific robot skills, such as climbing stairs and ramps. This extension is based on a new concept called behavior maps, which is utilized for the planning and execution of complex skills. Behavior maps are directly generated from elevation maps, i.e. two-dimensional grids storing in each cell the corresponding height of the terrain surface, and a set of skill descriptions. Results from extensive experiments are presented, showing that the method enables the robot to explore successfully rough terrain in real-time, while selecting the optimal trajectory in terms of costs for navigation and skill execution.

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Ambler: an autonomous rover for planetary exploration

Cited by 176 publications

References 5 publications

Occupancy-elevation grid: an alternative approach for robotic mapping and navigation

Occupancy-elevation grid: an alternative approach for robotic mapping and navigation

Efficient Non-Parametric Surface Representations Using Active Sampling for Push Broom Laser Data

Behavior maps for online planning of obstacle negotiation and climbing on rough terrain

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