Pretražite po imenu i prezimenu autora, mentora, urednika, prevoditelja

Napredna pretraga

Pregled bibliografske jedinice broj: 1179505

A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration


Batinovic, Ana; Ivanovic, Antun; Petrovic, Tamara; Bogdan, Stjepan
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration // IEEE Robotics and Automation Letters, 7 (2022), 2; 2969-2976 doi:10.1109/lra.2022.3146586 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 1179505 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

Autori
Batinovic, Ana ; Ivanovic, Antun ; Petrovic, Tamara ; Bogdan, Stjepan

Izvornik
IEEE Robotics and Automation Letters (2377-3766) 7 (2022), 2; 2969-2976

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Aerial systems, perception and autonomy, autonomous agents, mapping

Sažetak
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state- of-the-art in terms of computational efficiency and total exploration time.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo



POVEZANOST RADA


Projekti:
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ana Milas (autor)

Avatar Url Stjepan Bogdan (autor)

Avatar Url Tamara Petrović (autor)

Avatar Url Antun Ivanović (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Batinovic, Ana; Ivanovic, Antun; Petrovic, Tamara; Bogdan, Stjepan
A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration // IEEE Robotics and Automation Letters, 7 (2022), 2; 2969-2976 doi:10.1109/lra.2022.3146586 (međunarodna recenzija, članak, znanstveni)
Batinovic, A., Ivanovic, A., Petrovic, T. & Bogdan, S. (2022) A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration. IEEE Robotics and Automation Letters, 7 (2), 2969-2976 doi:10.1109/lra.2022.3146586.
@article{article, author = {Batinovic, Ana and Ivanovic, Antun and Petrovic, Tamara and Bogdan, Stjepan}, year = {2022}, pages = {2969-2976}, DOI = {10.1109/lra.2022.3146586}, keywords = {Aerial systems, perception and autonomy, autonomous agents, mapping}, journal = {IEEE Robotics and Automation Letters}, doi = {10.1109/lra.2022.3146586}, volume = {7}, number = {2}, issn = {2377-3766}, title = {A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration}, keyword = {Aerial systems, perception and autonomy, autonomous agents, mapping} }
@article{article, author = {Batinovic, Ana and Ivanovic, Antun and Petrovic, Tamara and Bogdan, Stjepan}, year = {2022}, pages = {2969-2976}, DOI = {10.1109/lra.2022.3146586}, keywords = {Aerial systems, perception and autonomy, autonomous agents, mapping}, journal = {IEEE Robotics and Automation Letters}, doi = {10.1109/lra.2022.3146586}, volume = {7}, number = {2}, issn = {2377-3766}, title = {A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration}, keyword = {Aerial systems, perception and autonomy, autonomous agents, mapping} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


Citati:





    Contrast
    Increase Font
    Decrease Font
    Dyslexic Font