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Handbook of discrete and computational geometry
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Journal of Intelligent and Robotic Systems
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Eighteenth national conference on Artificial intelligence
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Line Extraction in 2D Range Images for Mobile Robotics
Journal of Intelligent and Robotic Systems
Fast Laser Scan Matching using Polar Coordinates
International Journal of Robotics Research
Multiple robot rearrangement problem using an extended project-scheduling problem solver
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Loop exploration for slam with fusion of advanced sonar features and laser polar scan matching
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robotics and Autonomous Systems
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This paper describes an object rearrangement system for an autonomous mobile robot. The objective of the robot is to autonomously explore and learn about an environment, to detect changes in the environment on a later visit after object disturbances and finally, to move objects back to their original positions. In the implementation, it is assumed that the robot does not have any prior knowledge of the environment and the positions of the objects. The system exploits Simultaneous Localisation and Mapping (SLAM) and autonomous exploration techniques to achieve the task. These techniques allow the robot to perform localisation and mapping which is required to perform the object rearrangement task autonomously. The system includes an arrangement change detector, object tracking and map update that work with a Polar Scan Match (PSM) Extended Kalman Filter (EKF) SLAM system. In addition, a path planning technique for dragging and pushing an object is also presented in this paper. Experimental results of the integrated approach are shown to demonstrate that the proposed approach provides real-time autonomous object rearrangements by a mobile robot in an initially unknown real environment. Experiments also show the limits of the system by investigating failure modes.