RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware
Adam Seewald,Marvin Chancán,Connor M. McCann,Seonghoon Noh,Omeed Fallahi,Hector Castillo,Ian Abraham,Aaron M. Dollar,Adam Seewald,Marvin Chancán,Connor M. McCann,Seonghoon Noh,Omeed Fallahi,Hector Castillo,Ian Abraham,Aaron M. Dollar
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of an experimental platform with rocker-bogie suspension. It operates in unknown and GPS-denied environments and on indoor and outdoor terrains. The exploration con...
