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  • Risk-aware graph search with dynamic edge cost discovery

    Creator:
    Chung, Jen Jen, Smith, Andrew J., Skeele, Ryan, and Hollinger, Geoffrey A.
    Abstract:
    In this paper, we introduce a novel algorithm for incorporating uncertainty into lookahead planning. Our algorithm searches through connected graphs with uncertain edge costs represented by known probability distributions. As a robot moves through the graph, the true edge costs of adjacent edges are revealed to the planner prior to...
    Resource Type:
    Article
    Full Text:
    Research 2019, Vol. 38(2-3) 182–195 © The Author(s) 2018 Article reuse guidelines: sagepub.com/journals

  • Distributed inference-based multi-robot exploration

    Creator:
    Smith, Andrew J. and Hollinger, Geoffrey A.
    Abstract:
    This work proposes a technique for distributed multi-robot exploration that leverages novel methods of map inference. The inference technique uses observed map structure to infer unobserved map features. The team then coordinates to explore both the inferred and observed portions of the map. Individual robots select exploration poses by accounting...
    Resource Type:
    Article
    Full Text:
    sparse 360o laser range scan, s, at a randomly sampled pose in the observed environment, i.e. p∈O f