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Citace

Petr Neduchal and Miloš Železný : Frontier Detection in Consecutive Grid Maps with Set Reduction . Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”, Smart Innovation, Systems and Technologies, vol. 154, p. 441-453, Springer, 2019.

Abstrakt

The paper deals with the problem of frontier detection. The main contribution of the paper is an approach for reducing a set of detected frontiers. All maps in the paper are assumed to be 2D occupancy grid maps. The detection algorithm is based on computing fused map from the maps obtained in the last two-time steps. Frontiers are detected in the fused map instead of the current map. Moreover, the set of detected frontiers is then reduced by applying two restriction rules. The proposed algorithm is verified in the experiment performed in the simulation environment. The results are compared with a basic naive detection approach and with an approach which does not apply the reducing step.

Detail publikace

Název: Frontier Detection in Consecutive Grid Maps with Set Reduction
Autor: Petr Neduchal ; Miloš Železný
Název - česky: Frontier Detection in Consecutive Grid Maps with Set Reduction
Jazyk publikace: anglicky
Datum vydání: 30.8.2019
Rok vydání: 2019
Typ publikace: Stať ve sborníku
Název knihy: Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”
Svazek: Smart Innovation, Systems and Technologies
Číslo vydání: 154
Strana: 441 - 453
DOI: 10.1007/978-981-13-9267-2_36
ISBN: 978-981-13-9266-5
Nakladatel: Springer
/ 2019-11-21 09:26:24 /

Klíčová slova

Frontier detection, Grid maps, Robot exploration, Navigation

BibTeX

@INPROCEEDINGS{PetrNeduchal_2019_FrontierDetectionin,
 author = {Petr Neduchal and Milo\v{s} \v{Z}elezn\'{y}},
 title = {Frontier Detection in Consecutive Grid Maps with Set Reduction},
 year = {2019},
 publisher = {Springer},
 volume = {154},
 pages = {441-453},
 booktitle = {Proceedings of 14th International Conference on Electromechanics and Robotics "Zavalishin's Readings"},
 series = {Smart Innovation, Systems and Technologies},
 ISBN = {978-981-13-9266-5},
 doi = {10.1007/978-981-13-9267-2_36},
 url = {http://www.kky.zcu.cz/en/publications/PetrNeduchal_2019_FrontierDetectionin},
}