Life-long spatio-temporal exploration of dynamic environments

Krajnik, Tomas and Santos, Joao and Duckett, Tom (2015) Life-long spatio-temporal exploration of dynamic environments. In: European Conference on Mobile Robots 2015 (ECMR 15), 2-4 September 2015, University of LIncoln, Lincoln, UK.

Documents
Life-long spatio-temporal exploration of dynamic environment
[img]
[Download]
[img]
Preview
PDF
spatio_temporal_exploration.pdf - Whole Document

2MB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

We propose a new idea for life-long mobile robot spatio-temporal exploration of dynamic environments. Our method assumes that the world is subject to perpetual change, which adds an extra, temporal dimension to the explored space and makes the exploration task a never-ending data-gathering process. To create and maintain a spatio-temporal model of a dynamic environment, the robot has to determine not only where, but also when to perform observations. We address the problem by application of information-theoretic exploration to world representations that model the uncertainty of environment states as probabilistic functions of time.

We compare the performance of different exploration strategies and temporal models on real-world data gathered over the course of several months and show that combination of dynamic environment representations with information-gain exploration principles allows to create and maintain up-to-date models of constantly changing environments.

Keywords:mobile robotics, long-term autonomy, bmjgoldcheck
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
Related URLs:
ID Code:17955
Deposited On:24 Jul 2015 08:40

Repository Staff Only: item control page