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Authors: Daniel Schmidt ; Tobias Luksch ; Jens Wettach and Karsten Berns

Affiliation: University of Kaiserslautern (TU), Germany

Keyword(s): Mobile robots, autonomous exploration, behaviour-based, indoor environments.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Besides safe motion control the gain of environmental knowledge is a key for a reliable home or office service robot. When being set into a completely unknown environment the robot has to be able to derive a certain abstract internal representation of this world without any user interaction. This knowledge enables the robot to know how to get from its actual place in one room to a target position in another room as a prerequisite for transportation tasks for example. In this context, the combination of a behavior-based motion control system and an abstract topological map based on geometric representations of rooms seems promising. As the concept of motion and exploration behaviors facilitates to compete with noisy sensor information and geometrically imprecise maps, it has been used to develop completely autonomous exploration strategies for deriving topological representations of common indoor environments. The only prescribed world knowledge is the fact that these environments are composed of rectangular entities (rooms) which are connected by openings (doors). The developed system has successfully been tested in simulation and reality. (More)

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Paper citation in several formats:
Schmidt, D.; Luksch, T.; Wettach, J. and Berns, K. (2006). AUTONOMOUS BEHAVIOR-BASED EXPLORATION OF OFFICE ENVIRONMENTS. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 235-240. DOI: 10.5220/0001204002350240

@conference{icinco06,
author={Daniel Schmidt. and Tobias Luksch. and Jens Wettach. and Karsten Berns.},
title={AUTONOMOUS BEHAVIOR-BASED EXPLORATION OF OFFICE ENVIRONMENTS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2006},
pages={235-240},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001204002350240},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - AUTONOMOUS BEHAVIOR-BASED EXPLORATION OF OFFICE ENVIRONMENTS
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Schmidt, D.
AU - Luksch, T.
AU - Wettach, J.
AU - Berns, K.
PY - 2006
SP - 235
EP - 240
DO - 10.5220/0001204002350240
PB - SciTePress

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