RSE-lab Map Building and Exploration

More animations related to mapping can be found on our MCL in action web site. See also our web site on the Centibots project.

Project Contributors

Dieter Fox, Jonathan Ko, Benson Limketkai, Benjamin Stewart

Animations

Click on one of the images below to see an animation illustrating autonomous exploration of the Allen Center. Click on an image capture to get more information.

Raw data

Coordinated exploration (animation has delay)

Frontier-based exploration

Main publications

• Distributed Multi-robot Exploration and Mapping.
  D. Fox, J. Ko, K. Konolige, B. Limketkai, D. Schulz, and B. Stewart. Proc. of the IEEE, 2006.
• Relational Object Maps for Mobile Robots.
  B. Limketkai, L. Liao, and D. Fox. IJCAI-05.
• Centibots: Very large scale distributed robotic teams.
  K. Konolige, D. Fox, C. Ortiz, A. Agno, M. Eriksen, B. Limketkai, J. Ko, B. Morisset, D. Schulz, B. Stewart, R. Vincent. ISER-04.
• The Revisiting Problem in Mobile Robot Map Building: A Hierarchical Bayesian Approach.
  B. Stewart, J. Ko, D. Fox, and K. Konolige. UAI-03.
• A Practical, Decision-theoretic Approach to Multi-robot Mapping and Exploration.
  J. Ko, B. Stewart, D. Fox, K. Konolige, and B. Limketkai. IROS-03.
• An Efficient FastSLAM Algorithm for Generating Maps of Large-scale Cyclic Environments From Raw Laser Range Measurements.
  D. Haehnel, W. Burgard, D. Fox, and S. Thrun. IROS-03.
• A real-time algorithm for mobile robot mapping with applications to multi-robot and 3d mapping.
  S. Thrun, W. Burgard, and D. Fox. ICRA-00. Best paper award!
• Coordination for multi-robot exploration and mapping.
  R. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, and H. Younes. AAAI-00.
• Collaborative Multi-Robot Exploration.
  W. Burgard, M. Moors, D. Fox, R. Simmons, and S. Thrun. ICRA-00.
• Map learning and high-speed navigation in RHINO.
  S. Thrun, A. Bücken, W. Burgard, D. Fox, T. Fröhlinghaus, D. Hennig, T. Hofmann, M. Krell, and T. Schimdt. Artificial Intelligence and Mobile Robots. MIT/AAAI Press, Cambridge, MA, 1998.
• A probabilistic approach to concurrent mapping and localization for mobile robots.
  S. Thrun, D. Fox, and W. Burgard. Machine Learning and Autonomous Robots (joint issue) (ML), (31), 1998.