Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2024

Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration

Abstract

In this letter, we describe a novel roadmap construction method in unknown environments, which relies on the extraction of the Hamilton-Jacobi skeleton of the free space. This skeleton is used to construct a graph of free-space bubbles, effectively compressing the skeleton information in a sparse data structure but retaining its topology. The bubbles also enforce safety directly in the roadmap structure. We first demonstrate the relevance of this approach for standard path-planning tasks. We also propose a frontiers-based exploration strategy able to autonomously and safely build a complete 2D map of the environment.
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hal-04282634 , version 1 (13-11-2023)

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Thibault Noël, Antoine Lehuger, Eric Marchand, François Chaumette. Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap For Safe 2D Navigation and Exploration. IEEE Robotics and Automation Letters, 2024, 9 (1), pp.555-562. ⟨10.1109/LRA.2023.3334103⟩. ⟨hal-04282634⟩
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