The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Sampling-based optimal planners, such as RRT*, almost-surely converge asymptotically to the optimal solution, but have provably slow convergence rates in high dimensions. This is because their commitment to finding the global optimum compels them to prioritize exploration of the entire problem domain even as its size grows exponentially. Optimization techniques, such as CHOMP, have fast convergence...
In this paper, we present Batch Informed Trees (BIT*), a planning algorithm based on unifying graph- and sampling-based planning techniques. By recognizing that a set of samples describes an implicit random geometric graph (RGG), we are able to combine the efficient ordered nature of graph-based techniques, such as A*, with the anytime scalability of sampling-based algorithms, such as Rapidly-exploring...
Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the problem of finding the optimal solution, but in doing so asymptotically find the optimal path from the initial state to every state in the planning domain. This behaviour is not only inefficient but also inconsistent with their...
This paper presents a proof-of-concept, rover-based system to locate the source(s) of methane gas on Mars. A distributed open-path spectrometer is mounted on a rover and pointed at several retro reflective signs to measure the line-of-sight methane concentration between the rover and sign. By moving the rover around and accumulating such measurements, the location of a methane source can be determined...
This paper presents a method to exploit inherent deficiencies in the sensing technology of a SICK laser rangefinder to detect sun positions from 3D lidar scans. Given the common use of SICK lidars on mobile robots, this method enables sun sensing for some existing configurations without requiring additional hardware or configuration costs. Adding sun sensing to mobile rovers has clear advantages,...
This paper develops a practical framework for estimating rover position in full-dark conditions by correcting relative odometric estimates with periodic, absolute-attitude measurements from a star tracker. The framework is validated using just under 2.5 kilometres of field data gathered at the University of Toronto's Koffler Scientific Reserve at Jokers Hill (KSR) comprised of both wheel odometry...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.