7 accepted papers
Progress in autonomous mobile robotics has seen significant advances in the development of many algorithms for motion control and path planning. However, robust performance from these algorithms can often only be expected if the parameters controlling them are tuned specifically for the respective r…
This letter presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modeling long-term, pseudo-periodic variations caused by human activities or natural processes. Unlike previous approaches, the proposed method does not treat tim
This letter presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs, and help protect the environment. Traditionally, data are collected manually at an arbitrary set of locations, then so
Long-term studies with autonomous robots “in the wild” (deployed in real-world human-inhabited environments) are among the most laborious and resource-intensive endeavors in human-robot interaction. Even if a robot system itself is robust and well-working, the analysis of the vast amounts of user da
This letter presents an exploration method that allows mobile robots to build and maintain spatio-temporal models of changing environments. The assumption of a perpetually changing world adds a temporal dimension to the exploration problem, making spatio-temporal exploration a never-ending, life-lon
We present a lifelong mapping and localisation system for long-term autonomous operation of mobile robots in changing environments. The core of the system is a spatio-temporal occupancy grid that explicitly represents the persistence and periodicity of the individual cells and can predict the probab…
In planning for deliberation or navigation in real-world robotic systems, one of the big challenges is to cope with change. It lies in the nature of planning that it has to make assumptions about the future state of the world, and the robot's chances of successively accomplishing actions in this fut…