Francesco Vecchioli

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We present a method for sensor-based exploration of unknown environments by a robotic system equipped with rangefinders. The method is based on the incremental generation of a configuration-space data structure called sensor-based exploration tree (SET). The expansion of the SET is driven by information at the world level, where the perception process takes(More)
This paper presents a novel method for sensor-based exploration of unknown environments by a general robotic system equipped with multiple sensors. The method is based on the incremental generation of a configuration-space data structure called Sensor-based Exploration Tree (SET). The expansion of the SET is driven by information at the world level, where(More)
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