Environment Characterization for Non-Recontaminating Frontier-Based Robotic Exploration
This paper addresses the problem of obtaining a concise description of a physical environment for robotic exploration. We aim to determine the number of robots required to clear an environment using non-recontaminating exploration. We introduce the medial axis as a configuration space and derive a m...
Main Authors: | Volkov, Mikhail, Cornejo Collado, Alex, Lynch, Nancy Ann, Rus, Daniela L. |
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Other Authors: | move to dc.description.sponsorship |
Format: | Article |
Language: | en_US |
Published: |
Springer Berlin / Heidelberg
2012
|
Online Access: | http://hdl.handle.net/1721.1/73714 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-3045-265X https://orcid.org/0000-0001-9632-754X |
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