The Office Marathon: Robust Navigation in an Indoor Office Environment
|Title||The Office Marathon: Robust Navigation in an Indoor Office Environment|
|Publication Type||Conference Paper|
|Year of Publication||2010|
|Authors||Marder-Eppstein, Eitan., Berger, Eric., Foote, Tully., Gerkey, Brian P.., and Konolige, Kurt|
|Conference Name||International Conference on Robotics and Automation|
|Keywords||motionplanning, navigation, perception|
This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment. We present the methods required to achieve this level of robustness, including an efficient Voxel-based 3D mapping algorithm that explicitly models unknown space. We also provide an open-source implementation of the algorithms used, as well as simulated environments in which our results can be verified.