STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments
Akash Patel,Mario A. V. Saucedo,Christoforos Kanellakis,George Nikolakopoulos,Akash Patel,Mario A. V. Saucedo,Christoforos Kanellakis,George Nikolakopoulos
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic scene changes in previously explored areas. The framework is structured around a novel goal oriented graph representation, that consists of, i) the local sub-gr...
