About: On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Frontier-based approach can be considered as a de facto standard method for a mobile robot exploration task. Many variants have been proposed; however, relatively little attention has been made to study the influence of goal candidates generation to the performance of the exploration. In regular approaches, frontiers are considered as eventual goals for the next-best-view selection using a utility function combining a distance cost and expected information gain. The aim of this paper is to show that using goal candidates that are independent of the distance cost can improve the performance of exploration strategies. The found insights are supported by a statistical evaluation of thousands of trials performed for various environments. Frontier-based approach can be considered as a de facto standard method for a mobile robot exploration task. Many variants have been proposed; however, relatively little attention has been made to study the influence of goal candidates generation to the performance of the exploration. In regular approaches, frontiers are considered as eventual goals for the next-best-view selection using a utility function combining a distance cost and expected information gain. The aim of this paper is to show that using goal candidates that are independent of the distance cost can improve the performance of exploration strategies. The found insights are supported by a statistical evaluation of thousands of trials performed for various environments. (en)
Title	On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration (en)
skos:prefLabel	On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration On Determination of Goal Candidates in Frontier-Based Multi-Robot Exploration (en)
skos:notation	RIV/68407700:21230/13:00210409!RIV14-GA0-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GP13-18316P)
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Kulich, Miroslav Faigl, Jan
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	93685
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00210409
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	exploration; mobile robotics (en)
http://linked.open.../riv/klicoveSlovo	exploration mobile robotics
http://linked.open...ontrolniKodProRIV	[E153F058C1FF]
http://linked.open...v/mistoKonaniAkce	Barcelona
http://linked.open...i/riv/mistoVydani	Barcelona
http://linked.open...i/riv/nazevZdroje	Proceedings of 6th European Conference on Mobile Robots
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Self-Organizing Maps for Multi-Goal Path Planning Tasks
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Faigl, Jan Kulich, Miroslav
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open...ain/vavai/riv/wos	000330234600034
http://linked.open.../riv/zahajeniAkce	2013-09-25 (xsd:date)
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ECMR.2013.6698844
http://purl.org/ne...btex#hasPublisher	Institut de Robòtica i Informàtica Industrial
https://schema.org/isbn	978-1-4799-0263-7
http://localhost/t...ganizacniJednotka	21230

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