Navigation and mapping in large-scale space
AI Magazine
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
An Algorithm for Finding Best Matches in Logarithmic Expected Time
ACM Transactions on Mathematical Software (TOMS)
Robot Motion Planning
Linear Time Euclidean Distance Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
A generalized front marching algorithm for the solution of the eikonal equation
Journal of Computational and Applied Mathematics
Spatial semantic hierarchy for a physical mobile robot
Spatial semantic hierarchy for a physical mobile robot
Signal Processing - Special issue: Fractional signal processing and applications
Efficient algorithms for solving static hamilton-jacobi equations
Efficient algorithms for solving static hamilton-jacobi equations
Autonomous Learning Architecture for Environmental Mapping
Journal of Intelligent and Robotic Systems
Short note: O(N) implementation of the fast marching algorithm
Journal of Computational Physics
International Journal of Robotics Research
Integrating grid-based and topological maps for mobile robot navigation
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Path Planning for Autonomous Underwater Vehicles
IEEE Transactions on Robotics
Robotic path planning using hybrid genetic algorithm particle swarm optimisation
International Journal of Information and Communication Technology
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Robot navigation in unknown environments requires an efficient exploration method. Exploration involves not only to determine towards the robot must to move but also motion planning, and simultaneous localization and mapping processes. The final goal of the exploration task is to build a map of the environment that previously the robot didn't know. This work proposes the Voronoi Fast Marching method, that uses a Fast Marching technique on the Logarithm of the Extended Voronoi Transform of the environment's image provided by sensors, to determine a motion plan. The Logarithm of the Extended Voronoi Transform imitates the repulsive electric potential from walls and obstacles, and the Fast Marching Method propagates a wave over that potential map. The trajectory is calculated by the gradient method. The robot is directed towards the most unexplored and free zones of the environment so as to be able to explore all the workspace. Finally, to build the environment map while the robot is carrying out the exploration task, a SLAM (Simultaneous Localization and Modelling)algorithm is implemented, the Evolutive Localization Filter (ELF) based on a differential evolution technique. The combination of these methods provide a new autonomous exploration strategy to construct consistent maps of 2D and 3D indoor environments.