NDLI: Ouroboros: Using potential field in unexplored regions to close loops

Content Provider	IEEE Xplore Digital Library
Author	Jorge, V.A.M. Maffei, R. Franco, G.S. Daltrozo, J. Giambastiani, M. Kolberg, M. Prestes, E.
Copyright Year	2015
Description	Author affiliation: Inst. of Inf., Univ. Fed. do Rio Grande do Sul, Porto Alegre, Brazil (Jorge, V.A.M.; Maffei, R.; Franco, G.S.; Daltrozo, J.; Giambastiani, M.; Kolberg, M.; Prestes, E.)
Abstract	An autonomous robot requires a map of the environment for many tasks. Yet, in many cases, this map is unavailable and the robot must build one in real-time, in the so-called integrated exploration task. Several integrated exploration approaches adopt some sort of loop-closing strategy combined with an online simultaneous localization and mapping (SLAM) technique. This is important because the robot can reduce the uncertainty about its pose by revisiting known areas. One solution for environment exploration is to use the vector field computed from the numeric solution of a Boundary Value Problem (BVP). This approach is called BVP Path Planner and generates smooth and free of local minima potential fields. However, this planner cannot actively close loops and does not scale well in large scenarios. In this paper we present a technique which performs active loop closure using the BVP Path Planner. Our proposal takes advantage of the potential of unexplored regions, and induces the robot to close loops by placing dynamic barriers at the visited space. The update of the potential field is boosted using a local window charged by a Voronoi diagram of the environment containing global information. We show through experimental results the effectiveness of the technique with a thorough discussion of its characteristics.
Starting Page	2125
Ending Page	2131
File Size	1627560
Page Count	7
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139479
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Agricultural machinery Roads Simultaneous localization and mapping Boundary conditions Joining processes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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