Efficient neighbourhood-based information gain approach for exploration of complex 3D environments

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

Efficient neighbourhood-based information gain approach for exploration of complex 3D environments

Quin, P

Paul, G

Alempijevic, A

Liu, D

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2013, pp. 1343 - 1348
Issue Date:: 2013-11-14

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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.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2013-11-14	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2013, pp. 1343 - 1348	en_US
dc.identifier.isbn	9781467356411	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27588
dc.description.abstract	This paper presents an approach for exploring a complex 3D environment with a sensor mounted on the end effector of a robot manipulator. In contrast to many current approaches which plan as far ahead as possible using as much environment information as is available, our approach considers only a small set of poses (vector of joint angles) neighbouring the robot's current pose in configuration space. Our approach is compared to an existing exploration strategy for a similar robot. Our results demonstrate a significant decrease in the number of information gain estimation calculations that need to be performed, while still gathering an equivalent or increased amount of information about the environment. © 2013 IEEE.	en_US
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2013.6630745	en_US
dc.title	Efficient neighbourhood-based information gain approach for exploration of complex 3D environments	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Karlsruhe, Germany	en_US
dc.location.activity	Karlsruhe, GERMANY
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

Abstract:

This paper presents an approach for exploring a complex 3D environment with a sensor mounted on the end effector of a robot manipulator. In contrast to many current approaches which plan as far ahead as possible using as much environment information as is available, our approach considers only a small set of poses (vector of joint angles) neighbouring the robot's current pose in configuration space. Our approach is compared to an existing exploration strategy for a similar robot. Our results demonstrate a significant decrease in the number of information gain estimation calculations that need to be performed, while still gathering an equivalent or increased amount of information about the environment. © 2013 IEEE.

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http://hdl.handle.net/10453/27588