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An Approach To Fast Multi-Robot Exploration In Buildings With Inaccessible Spaces, Matt Mcneill, Damian Lyons
An Approach To Fast Multi-Robot Exploration In Buildings With Inaccessible Spaces, Matt Mcneill, Damian Lyons
Faculty Publications
The rapid exploration of unknown environments is a common application of autonomous multi-robot teams. For some types of exploration missions, a mission designer may possess some rudimentary knowledge about the area to be explored. For example, the dimensions of a building may be known, but not its floor layout or the location of furniture and equipment inside. For this type of mission, the Space- Based Potential Field (SBPF) method is an approach to multirobot exploration which leverages a priori knowledge of area bounds to determine robot motion. Explored areas and obstacles exert a repulsive force, and unexplored areas exert an …
Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore
Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore
Faculty Publications
Visual homing is a local navigation technique used to direct a robot to a previously seen location by comparing the image of the original location with the current visual image. Prior work has shown that exploiting depth cues such as image scale or stereo-depth in homing leads to improved homing performance. While it is not unusual to use a panoramic field of view (FOV) camera in visual homing, it is unusual to have a panoramic FOV stereo-camera. So, while the availability of stereo-depth information may improve performance, the concomitant-restricted FOV may be a detriment to performance, unless specialized stereo hardware …