RA-L 20249 citations
Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration
Thibault Noël, Antoine Lehuger, Éric Marchand, François Chaumette
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.
BibTeX
@inproceedings{ral2024_skeletondiskgrap,
title = {Skeleton Disk-Graph Roadmap: A Sparse Deterministic Roadmap for Safe 2D Navigation and Exploration},
author = {Thibault Noël and Antoine Lehuger and Éric Marchand and François Chaumette},
booktitle = {RA-L 2024},
year = {2024}
}