The Office Marathon: Robust Navigation in an Indoor Office Environment

TitleThe Office Marathon: Robust Navigation in an Indoor Office Environment
Publication TypeConference Paper
Year of Publication2010
AuthorsMarder-Eppstein, Eitan., Berger, Eric., Foote, Tully., Gerkey, Brian P.., and Konolige, Kurt
Conference NameInternational Conference on Robotics and Automation
Date Published05/2010
Keywordsmotionplanning, navigation, perception
Abstract

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.

URLhttp://www.ros.org/wiki/Papers/ICRA2010_Marder-Eppstein
AttachmentSize
icra2010_marder-eppstein.pdf1.06 MB