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Contribution Details

Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title Rapid exploration with multi-rotors: A frontier selection method for high speed flight
Organization Unit
Authors
  • Titus Cieslewski
  • Elia Kaufmann
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Page Range 1 - 8
Event Title IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Type conference
Event Location Vancouver
Event Start Date September 24 - 2017
Event End Date September 28 - 2017
Place of Publication IEEE/RSJ International Conference on Intelligent Robots and Systems
Abstract Text Exploring and mapping previously unknown environments while avoiding collisions with obstacles is a fundamental task for autonomous robots. In scenarios where this needs to be done rapidly, multi-rotors are a good choice for the task, as they can cover ground at potentially very high velocities. Flying at high velocities, however, implies the ability to rapidly plan trajectories and to react to new information quickly. In this paper, we propose an extension to classical frontier -based exploration that facilitates exploration at high speeds. The extension consists of a reactive mode in which the multi-rotor rapidly selects a goal frontier from its field of view. The goal frontier is selected in a way that minimizes the change in velocity necessary to reach it. While this approach can increase the total path length, it significantly reduces the exploration time, since the multi-rotor can fly at consistently higher speeds.
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