Online Exploration of Tunnel Networks Leveraging Topological CNN-based World Predictions
Manish Saroya,Graeme Best,Geoffrey A. Hollinger,Manish Saroya,Graeme Best,Geoffrey A. Hollinger
Robotic exploration requires adaptively selecting navigation goals that result in the rapid discovery and mapping of an unknown world. In many real-world environments, subtle structural cues can provide insight about the unexplored world, which may be exploited by a decision maker to improve the speed of exploration. In sparse subterranean tunnel networks, these cues come in the form of topologica...
