TY - GEN
T1 - Fast frontier detection for robot exploration
AU - Keidar, Matan
AU - Sadeh-Or, Eran
AU - Kaminka, Gal A.
N1 - Place of conference:Taiwan
PY - 2012
Y1 - 2012
N2 - Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. In frontier-based exploration, robots explore by repeatedly computing (and moving towards) frontiers, the segments which separate the known regions from those unknown. However, most frontier detection algorithms process the entire map data. This can be a time consuming process which slows down the exploration. In this paper, we present two novel frontier detection algorithms: WFD, a graph search based algorithm and FFD, which is based on processing only the new laser readings data. In contrast to state-of-the-art methods, both algorithms do not process the entire map data. We implemented both algorithms and showed that both are faster than a state-of-the-art frontier detector implementation (by several orders of magnitude).
AB - Frontier-based exploration is the most common approach to exploration, a fundamental problem in robotics. In frontier-based exploration, robots explore by repeatedly computing (and moving towards) frontiers, the segments which separate the known regions from those unknown. However, most frontier detection algorithms process the entire map data. This can be a time consuming process which slows down the exploration. In this paper, we present two novel frontier detection algorithms: WFD, a graph search based algorithm and FFD, which is based on processing only the new laser readings data. In contrast to state-of-the-art methods, both algorithms do not process the entire map data. We implemented both algorithms and showed that both are faster than a state-of-the-art frontier detector implementation (by several orders of magnitude).
UR - http://www.scopus.com/inward/record.url?scp=84855938053&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-27216-5_20
DO - 10.1007/978-3-642-27216-5_20
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AN - SCOPUS:84855938053
SN - 9783642272158
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 281
EP - 294
BT - Advanced Agent Technology - AAMAS 2011 Workshops, AMPLE, AOSE, ARMS, DOCM3AS, ITMAS, Revised Selected Papers
T2 - International Conference on Autonomous Agents and Multi-Agent Systems, AAMAS 2011
Y2 - 2 May 2011 through 6 May 2011
ER -