Matches in SemOpenAlex for { <https://semopenalex.org/work/W4200435397> ?p ?o ?g. }
Showing items 1 to 70 of
70
with 100 items per page.
- W4200435397 abstract "Indoor exploration using mobile robots has typically focused on exploring the entire environment without considering deadlines. This paper introduces a priority-based exploration algorithm for situations with an initially unknown and dynamically assigned deadline. The goal of our exploration strategy is to determine the geometric structure of an unknown environment as rapidly as possible and return to the home location. This is necessary for dangerous environments where an initial rapid robot exploration provides critical information about the layout for subsequent operations. For example, firefighters, for whom time is of the essence, can utilize the map generated by this robotic exploration to navigate a building on fire. We present a three-part strategy to solve this problem. First, we represent the physical environment as an exploration graph, whose vertices represent the local environment with its geometric and semantic information. Second, we assign priority values to these vertices based on their environment regions. Third, we present a graph exploration algorithm that employs the vertex priorities. Simulation experiments on a set of graph environments and Gazebo environments demonstrate that, in contrast to prior approaches that ignore the semantic information, our priority-based exploration algorithm enables the robot to efficiently explore more of the environment while satisfying its deadline constraints." @default.
- W4200435397 created "2021-12-31" @default.
- W4200435397 creator A5002379534 @default.
- W4200435397 creator A5067605537 @default.
- W4200435397 date "2021-09-27" @default.
- W4200435397 modified "2023-09-26" @default.
- W4200435397 title "Prioritized Indoor Exploration with a Dynamic Deadline" @default.
- W4200435397 cites W1601776805 @default.
- W4200435397 cites W1684737195 @default.
- W4200435397 cites W1966213627 @default.
- W4200435397 cites W1978289112 @default.
- W4200435397 cites W2031597354 @default.
- W4200435397 cites W2039367092 @default.
- W4200435397 cites W2090302437 @default.
- W4200435397 cites W2107667896 @default.
- W4200435397 cites W2130422193 @default.
- W4200435397 cites W2133844819 @default.
- W4200435397 cites W2149619235 @default.
- W4200435397 cites W2154418813 @default.
- W4200435397 cites W2165504132 @default.
- W4200435397 cites W2296693980 @default.
- W4200435397 cites W2788560856 @default.
- W4200435397 cites W2891234582 @default.
- W4200435397 cites W2949138173 @default.
- W4200435397 cites W3003718768 @default.
- W4200435397 cites W3091596629 @default.
- W4200435397 doi "https://doi.org/10.1109/iros51168.2021.9636199" @default.
- W4200435397 hasPublicationYear "2021" @default.
- W4200435397 type Work @default.
- W4200435397 citedByCount "1" @default.
- W4200435397 countsByYear W42004353972023 @default.
- W4200435397 crossrefType "proceedings-article" @default.
- W4200435397 hasAuthorship W4200435397A5002379534 @default.
- W4200435397 hasAuthorship W4200435397A5067605537 @default.
- W4200435397 hasConcept C107457646 @default.
- W4200435397 hasConcept C120314980 @default.
- W4200435397 hasConcept C132525143 @default.
- W4200435397 hasConcept C154945302 @default.
- W4200435397 hasConcept C177264268 @default.
- W4200435397 hasConcept C199360897 @default.
- W4200435397 hasConcept C41008148 @default.
- W4200435397 hasConcept C80444323 @default.
- W4200435397 hasConcept C80899671 @default.
- W4200435397 hasConcept C90509273 @default.
- W4200435397 hasConceptScore W4200435397C107457646 @default.
- W4200435397 hasConceptScore W4200435397C120314980 @default.
- W4200435397 hasConceptScore W4200435397C132525143 @default.
- W4200435397 hasConceptScore W4200435397C154945302 @default.
- W4200435397 hasConceptScore W4200435397C177264268 @default.
- W4200435397 hasConceptScore W4200435397C199360897 @default.
- W4200435397 hasConceptScore W4200435397C41008148 @default.
- W4200435397 hasConceptScore W4200435397C80444323 @default.
- W4200435397 hasConceptScore W4200435397C80899671 @default.
- W4200435397 hasConceptScore W4200435397C90509273 @default.
- W4200435397 hasLocation W42004353971 @default.
- W4200435397 hasOpenAccess W4200435397 @default.
- W4200435397 hasPrimaryLocation W42004353971 @default.
- W4200435397 hasRelatedWork W1485627940 @default.
- W4200435397 hasRelatedWork W1587227328 @default.
- W4200435397 hasRelatedWork W1596201972 @default.
- W4200435397 hasRelatedWork W1596615495 @default.
- W4200435397 hasRelatedWork W1967954938 @default.
- W4200435397 hasRelatedWork W2011276890 @default.
- W4200435397 hasRelatedWork W2160425906 @default.
- W4200435397 hasRelatedWork W2998813341 @default.
- W4200435397 hasRelatedWork W3099427952 @default.
- W4200435397 hasRelatedWork W3205824709 @default.
- W4200435397 isParatext "false" @default.
- W4200435397 isRetracted "false" @default.
- W4200435397 workType "article" @default.