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Potential-field-based active exploration for acoustic simultaneous localization and mapping

Abstract: 

This paper presents a novel framework for active exploration in the context of acoustic \gls{SLAM} using a microphone array mounted on a mobile robotic agent. Acoustic \gls{SLAM} aims at building a map of acoustic sources present in the environment and simultaneously estimating the agent's own trajectory and position within this map. Two important aspects of this task are robustness against disturbances arising from reverberation and sensor imperfections and an appropriate degree of exploration to achieve high map accuracy. Several approaches to the latter aspect using information-theoretic measures have recently been proposed. This study extends these approaches into a framework based on the potential field method, which is a widely used technique for robotic path planning and navigation. It allows to determine exploratory movement trajectories for the robotic agent via gradient descent, without requiring computationally expensive Monte Carlo simulations to predict the effects of specific trajectory choices. Furthermore, additional constraints like maintaining a safe distance to acoustic sources can easily be integrated into this framework. Experimental evaluation demonstrates that the proposed method yields adequate exploration strategies of the acoustic environment leading to accurate map estimates.

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Paper Details

Authors:
Christopher Schymura, Dorothea Kolossa
Submitted On:
13 April 2018 - 5:58am
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Christopher Schymura
Paper Code:
1968
Document Year:
2018
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[1] Christopher Schymura, Dorothea Kolossa, "Potential-field-based active exploration for acoustic simultaneous localization and mapping", IEEE SigPort, 2018. [Online]. Available: http://sigport.org/2676. Accessed: May. 25, 2018.
@article{2676-18,
url = {http://sigport.org/2676},
author = {Christopher Schymura; Dorothea Kolossa },
publisher = {IEEE SigPort},
title = {Potential-field-based active exploration for acoustic simultaneous localization and mapping},
year = {2018} }
TY - EJOUR
T1 - Potential-field-based active exploration for acoustic simultaneous localization and mapping
AU - Christopher Schymura; Dorothea Kolossa
PY - 2018
PB - IEEE SigPort
UR - http://sigport.org/2676
ER -
Christopher Schymura, Dorothea Kolossa. (2018). Potential-field-based active exploration for acoustic simultaneous localization and mapping. IEEE SigPort. http://sigport.org/2676
Christopher Schymura, Dorothea Kolossa, 2018. Potential-field-based active exploration for acoustic simultaneous localization and mapping. Available at: http://sigport.org/2676.
Christopher Schymura, Dorothea Kolossa. (2018). "Potential-field-based active exploration for acoustic simultaneous localization and mapping." Web.
1. Christopher Schymura, Dorothea Kolossa. Potential-field-based active exploration for acoustic simultaneous localization and mapping [Internet]. IEEE SigPort; 2018. Available from : http://sigport.org/2676