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Rapid exploration with multi-rotors: A frontier selection method for high speed flight


Cieslewski, Titus; Kaufmann, Elia; Scaramuzza, Davide (2017). Rapid exploration with multi-rotors: A frontier selection method for high speed flight. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, 24 September 2017 - 28 September 2017, 1-8.

Abstract

Exploring and mapping previously unknown environments while avoiding collisions with obstacles is a fundamental task for autonomous robots. In scenarios where this needs to be done rapidly, multi-rotors are a good choice for the task, as they can cover ground at potentially very high velocities. Flying at high velocities, however, implies the ability to rapidly plan trajectories and to react to new information quickly. In this paper, we propose an extension to classical frontier
-based exploration that facilitates exploration at high speeds. The extension consists of a reactive mode in which
the multi-rotor rapidly selects a goal frontier from its field of view. The goal frontier is selected in a way that minimizes the change in velocity necessary to reach it. While this approach can increase the total path length, it significantly reduces the exploration time, since the multi-rotor can fly at consistently higher speeds.

Abstract

Exploring and mapping previously unknown environments while avoiding collisions with obstacles is a fundamental task for autonomous robots. In scenarios where this needs to be done rapidly, multi-rotors are a good choice for the task, as they can cover ground at potentially very high velocities. Flying at high velocities, however, implies the ability to rapidly plan trajectories and to react to new information quickly. In this paper, we propose an extension to classical frontier
-based exploration that facilitates exploration at high speeds. The extension consists of a reactive mode in which
the multi-rotor rapidly selects a goal frontier from its field of view. The goal frontier is selected in a way that minimizes the change in velocity necessary to reach it. While this approach can increase the total path length, it significantly reduces the exploration time, since the multi-rotor can fly at consistently higher speeds.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:28 September 2017
Deposited On:24 Aug 2017 13:16
Last Modified:10 Nov 2017 13:50
Free access at:Related URL. An embargo period may apply.
Related URLs:http://rpg.ifi.uzh.ch/docs/IROS17_Cieslewski.pdf
Other Identification Number:merlin-id:15109

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