Autonomous navigation and exploration in a rescue environment


We present an approach Io autonomous exploration of a rescue environment. Exploration is based on unexplored frontiers and navigation on a two-level approach to the robot motion problem. Our method makes use of a motion planner capable of negotiating with very fine representations of the environment, that is used to move in a cluttered scenario. A topological path-planner "guides" the lower level and reduces the search space. The two algorithms are derived from two widely-used probabilistic algorithms, currently successfully deployed in many robot applications, the probabilistic roadmap and the rapid-exploring random trees. However, their adaptation to the rescue scenario requires significant extensions.

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@article{Calisi2005AutonomousNA, title={Autonomous navigation and exploration in a rescue environment}, author={Daniele Calisi and Alessandro Farinelli and Luca Iocchi and Daniele Nardi}, journal={IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.}, year={2005}, pages={54-59} }