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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 |
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| Presentation Type | paper |
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| 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. |
| Free access at | Related URL |
| Related URLs | |
| Digital Object Identifier | 10.1109/IROS.2017.8206030 |
| Other Identification Number | merlin-id:15109 |
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