Reference : Dynamics maps for long-term autonomy
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Dynamics maps for long-term autonomy
Ginés, J. [> >]
Martín, F. [> >]
Matellán, V. [> >]
Rodriguez Lera, Francisco Javier mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC)]
Balsa, J. [> >]
2017 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
from 26 - 4- 2017 to 28 - 4- 2017
[en] collision avoidance;mobile robots;multi-robot systems;navigation;RoboCup;dynamic obstacles;dynamics maps;long-term autonomy;mobile robots;robust navigation;static map;Mobile robots;Navigation;Robot sensing systems;Robustness;Servers;Two dimensional displays;Long-term Navigation;Mapping;Mobile Robot;Robocup
[en] Navigating is one of the most basic capabilities of mobile robots. For this task, robots usually represent the environment through maps. This paper reports on first results of a work focused on mapping dynamic environments to achieve a robust navigation for long-term operation. This approach builds a static map starting from the construction plans of a building. A long-term map is started from the static map, and updated when adding and removing furniture, or when doors are opened or closed. A short-term map represents dynamic obstacles such as people. This approach is appropriate for fast deployment and long-term operations in office or domestic environments, able to adapt to changes in the environment. We demonstrate the robustness of this approach in the RoboCup@home competition, where robots must navigate in an environment that changes during the tests.

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