Loading [MathJax]/extensions/MathZoom.js
Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration | IEEE Journals & Magazine | IEEE Xplore

Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration


Abstract:

In this letter, we describe a novel roadmap construction method in unknown environments, which relies on the extraction of the Hamilton-Jacobi skeleton of the free space....Show More

Abstract:

In this letter, we describe a novel roadmap construction method in unknown environments, which relies on the extraction of the Hamilton-Jacobi skeleton of the free space. This skeleton is used to construct a graph of free-space bubbles, effectively compressing the skeleton information in a sparse data structure but retaining its topology. The bubbles also enforce safety directly in the roadmap structure. We first demonstrate the relevance of this approach for standard path-planning tasks. We also propose a frontiers-based exploration strategy able to autonomously and safely build a complete 2D map of the environment.
Published in: IEEE Robotics and Automation Letters ( Volume: 9, Issue: 1, January 2024)
Page(s): 555 - 562
Date of Publication: 17 November 2023

ISSN Information:


References

References is not available for this document.