Environment Characterization for Non-Recontaminating Frontier-Based Robotic Exploration
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Lynch_Environment characterization.pdf
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Author(s)
Volkov, Mikhail
Cornejo Collado, Alex
Lynch, Nancy A.
Rus, Daniela L.
Date Issued
November 2011
Journal
Agents in Principle, Agents in Practice
Publisher
Springer Berlin / Heidelberg
Citation
Volkov, Mikhail et al. “Environment Characterization for Non-recontaminating Frontier-Based Robotic Exploration.” Lecture Notes in Computer Science: Agents in Principle, Agents in Practice. Ed. David Kinny et al. Vol. 7047. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. 19–35.
Version
Author's final manuscript
Abstract
This paper addresses the problem of obtaining a concise description of a physical environment for robotic exploration. We aim to determine the number of robots required to clear an environment using non-recontaminating exploration. We introduce the medial axis as a configuration space and derive a mathematical representation of a continuous environment that captures its underlying topology and geometry. We show that this representation provides a concise description of arbitrary environments, and that reasoning about points in this representation is equivalent to reasoning about robots in physical space. We leverage this to derive a lower bound on the number of required pursuers. We provide a transformation from this continuous representation into a symbolic representation. Finally, we present a generalized pursuit-evasion algorithm. Given an environment we can compute how many pursuers we need, and generate an optimal pursuit strategy that will guarantee the evaders are detected with the minimum number of pursuers.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1007/978-3-642-25044-6_5
