Exploring in 3D with a climbing robot: Selecting the next best base position on arbitrarily-oriented surfaces

Quin, P; Paul, G; Alempijevic, A; Liu, D

Exploring in 3D with a climbing robot: Selecting the next best base position on arbitrarily-oriented surfaces

Quin, P

Paul, G

Alempijevic, A

Liu, D

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2016, 2016-November pp. 5770 - 5775
Issue Date:: 2016-11-28

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Field	Value	Language
dc.contributor.author	Quin, P https://orcid.org/0000-0001-6542-3459	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Alempijevic, A https://orcid.org/0000-0002-1769-8041	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2016-11-28	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2016, 2016-November pp. 5770 - 5775	en_US
dc.identifier.isbn	9781509037629	en_US
dc.identifier.issn	2153-0858	en_US
dc.identifier.uri	http://hdl.handle.net/10453/122909
dc.description.abstract	© 2016 IEEE. This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points from which the robot can either move to other positions or make observations of the environment. The information value of nodes in this graph are estimated and a variant of A∗ is used to traverse the graph and discover the most worthwhile node that is reachable by the robot. This approach is demonstrated in simulation and shown to allow a 7 degree-of-freedom inchworm-inspired climbing robot to move to positions in the environment from which new information can be gathered about the environment.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2016.7759849	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Exploring in 3D with a climbing robot: Selecting the next best base position on arbitrarily-oriented surfaces	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-November	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2016-November	en_US

Abstract:

© 2016 IEEE. This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points from which the robot can either move to other positions or make observations of the environment. The information value of nodes in this graph are estimated and a variant of A∗ is used to traverse the graph and discover the most worthwhile node that is reachable by the robot. This approach is demonstrated in simulation and shown to allow a 7 degree-of-freedom inchworm-inspired climbing robot to move to positions in the environment from which new information can be gathered about the environment.

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http://hdl.handle.net/10453/122909