Krajnik, Tomas and Kulich, Miroslav and Mudrova, Lenka and Ambrus, Rares and Duckett, Tom (2015) Where's Waldo at time t? Using spatio-temporal models for mobile robot search. In: IEEE International Conference on Robotics and Automation (ICRA), May 26-30, 2015, Washington State Convention Center, Seattle, Washington.
search_2015_ICRA_public.pdf - Whole Document
17949 TDuckett REF additional text.pdf - Supplemental Material
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|Item Type:||Conference or Workshop contribution (Paper)|
|Item Status:||Live Archive|
We present a novel approach to mobile robot search for non-stationary objects in partially known environments. We formulate the search as a path planning problem in an environment where the probability of object occurrences at particular locations is a function of time. We propose to explicitly model the dynamics of the object occurrences by their frequency spectra. Using this spectral model, our path planning algorithm can construct plans that reflect the likelihoods of object locations at the time the search is performed. Three datasets collected over several months containing person and object occurrences in residential and office environments were chosen to evaluate the approach. Several types of spatio-temporal models were created for each of these datasets and the efficiency of the search method was assessed by measuring the time it took to locate a particular object. The results indicate that modeling the dynamics of object occurrences reduces the search time by 25% to 65% compared to maps that neglect these dynamics.
|Keywords:||mobile robotics, long-term autonomy, bmjgoldcheck|
|Subjects:||H Engineering > H670 Robotics and Cybernetics|
|Divisions:||College of Science > School of Computer Science|
|Deposited On:||24 Jul 2015 08:06|
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