| dc.contributor.author | Sun, Zezhou | |
| dc.contributor.author | Wu, Banghe | |
| dc.contributor.author | Xu, Cheng-Zhong | |
| dc.contributor.author | Sarma, Sanjay E | |
| dc.contributor.author | Yang, Jian | |
| dc.contributor.author | Kong, Hui | |
| dc.date.accessioned | 2022-02-03T19:36:05Z | |
| dc.date.available | 2022-01-20T19:51:28Z | |
| dc.date.available | 2022-02-03T19:36:05Z | |
| dc.date.issued | 2021-02 | |
| dc.date.submitted | 2021-01 | |
| dc.identifier.issn | 978-1-7281-6212-6 | |
| dc.identifier.issn | 978-1-7281-6213-3 | |
| dc.identifier.uri | https://hdl.handle.net/1721.1/139648.2 | |
| dc.description.abstract | © 2020 IEEE. We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach. | en_US |
| dc.language.iso | en | |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/IROS45743.2020.9341735 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
| dc.source | arXiv | en_US |
| dc.title | Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration | en_US |
| dc.type | Article | en_US |
| dc.identifier.citation | Sun, Zezhou, Wu, Banghe, Xu, Cheng-Zhong, Sarma, Sanjay E, Yang, Jian et al. 2020. "Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration." IEEE International Conference on Intelligent Robots and Systems. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
| dc.relation.journal | IEEE International Conference on Intelligent Robots and Systems | en_US |
| dc.eprint.version | Original manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
| dc.date.updated | 2022-01-20T19:47:47Z | |
| dspace.orderedauthors | Sun, Z; Wu, B; Xu, C-Z; Sarma, SE; Yang, J; Kong, H | en_US |
| dspace.date.submission | 2022-01-20T19:47:49Z | |
| mit.license | OPEN_ACCESS_POLICY | |
| mit.metadata.status | Authority Work Needed | en_US |
