Fast Frontier-based Information-driven Autonomous Exploration with an MAV
Anna Dai,Sotiris Papatheodorou,Nils Funk,Dimos Tzoumanikas,Stefan Leutenegger,Anna Dai,Sotiris Papatheodorou,Nils Funk,Dimos Tzoumanikas,Stefan Leutenegger
Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration strategy is the reduction of map entropy regarding occupancy probabilities, which is reflected in a utility function to be maximised. We achieve fast and efficient...
