Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Harmonic functions and collision probabilities
International Journal of Robotics Research
Robot Motion Planning
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Autonomous Learning Architecture for Environmental Mapping
Journal of Intelligent and Robotic Systems
Exploration of a cluttered environment using Voronoi Transform and Fast Marching
Robotics and Autonomous Systems
Encoding user motion preferences in harmonic function path planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Sculpting potential fields in the BVP path planner
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Robotic Motion Using Harmonic Functions and Finite Elements
Journal of Intelligent and Robotic Systems
Path-planning for RTS games based on potential fields
MIG'10 Proceedings of the Third international conference on Motion in games
Simulating pedestrian behavior with potential fields
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
Sigmoid Limiting Functions and Potential Field Based Autonomous Air Refueling Path Planning for UAVs
Journal of Intelligent and Robotic Systems
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The paper presents a general framework for concurrent navigation and exploration of unknown environments based on discrete potential fields that guide the robot motion. These potentials are obtained from a class of partial differential equation (PDE) problems called boundary value problems (BVP). The boundaries are generated from sensor readings and therefore they change as the robot moves. This framework corresponds to an extension of our previous work (Prestes, E., Idiart, M. A. P., Engel, P. and Trevisan, M.: Exploration technique using potential fields calculated from relaxation methods, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, p. 2012; Prestes, E., Engel, P. M., Trevisan, M. and Idiart, M. A.: Exploration method using harmonic functions, Robot. Auton. Syst. 40(1) (2002), 25---42). Here, we propose that a careful choice of the PDE and the boundary conditions can produce efficient exploratory behaviors in sparse and dense environments. Furthermore, we show how to extend the exploratory behavior to produce new ones by changing dynamically the boundary function (the value of the potential at the boundaries) as the exploration takes course. Our framework is validated through a series of experiments with a real robot in office environments.