Departmental Papers (CIS)

Date of this Version

September 2003

Document Type

Conference Paper

Comments

Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), Volume 2, pages 1913-1920.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27834&page=3

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Abstract

Mapping an environment with an imaging sensor becomes very challenging if the environment to be mapped is unknown and has to be explored. Exploration involves the planning of views so that the entire environment is covered. The majority of implemented mapping systems use a heuristic planning while theoretical approaches regard only the traveled distance as cost. However, practical range acquisition systems spend a considerable amount of time for acquisition. In this paper, we address the problem of minimizing the cost of looking around a corner, involving the time spent in traveling as well as the time spent for reconstruction. Such a local exploration can be used as a subroutine for global algorithms. We prove competitive ratios for two online algorithms. Then, we provide two representations of local exploration as a Markov Decision Process and apply a known policy iteration algorithm. Simulation results show that for some distributions the probabilistic approach outperforms deterministic strategies.

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Date Posted: 15 November 2004

This document has been peer reviewed.