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Citation

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.

Abstract

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 of publication

Title: Frontier Detection in Consecutive Grid Maps with Set Reduction
Author: Petr Neduchal ; Miloš Železný
Language: English
Date of publication: 30 Aug 2019
Year: 2019
Type of publication: Papers in proceedings of reviewed conferences
Book title: Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”
Series: Smart Innovation, Systems and Technologies
Číslo vydání: 154
Page: 441 - 453
DOI: 10.1007/978-981-13-9267-2_36
ISBN: 978-981-13-9266-5
Publisher: Springer
/ 2019-11-21 09:26:24 /

Keywords

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},
}