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Autonomous Coverage Operations in Semi-Structured Outdoor Environments

Parag Batavia and and Sanjiv Singh
Conference Paper, Carnegie Mellon University, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), October, 2002

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Abstract

This paper presents a comprehensive navigation system capable of extended coverage operations in semi-structured environments. By semi-structured, we mean pre-mapped terrain that although locally smooth has potentially large changes in elevation and that is generally free of obstacles. The system has three key capabilities — it is able to track specified paths with high accuracy, detect small obstacles reliably, and plan coverage patterns to completely cover a specified area. These technologies have been combined and implemented on a mobile robot, which has accumulated over 90km of autonomous operation to date. Here we report on the components, the architecture, and experimental results.

BibTeX Reference
@conference{Batavia-2002-8562,
title = {Autonomous Coverage Operations in Semi-Structured Outdoor Environments},
author = {Parag Batavia and and Sanjiv Singh},
booktitle = {2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)},
school = {Robotics Institute , Carnegie Mellon University},
month = {October},
year = {2002},
address = {Pittsburgh, PA},
}
2017-09-13T10:44:58+00:00