In this paper, a control scheme that combines trajectory planning and gaze direction control
for robotic exploration is presented. The objective is to calculate the gaze direction and …

The path followed by a mobile robot while mapping an environment (ie an exploration
trajectory) plays a large role in determining the efficiency of the mapping process and the …

This paper deals with sensor-based path planning and exploration for robots (with non-trivial
geometry and kinematics, such as a manipulator arm) moving in unknown environments …

We present an implemented sensor-based planner for motion planning and exploration for
eye-in-hand systems. A model-based motion planner is used to plan paths within the known …

An approach to path-planning around smooth obstacles that exploits visually derived
geometry is proposed. A moving robot can scan the silhouette or apparent contour of an …

This paper deals with planning of visual navigation strategies for a mobile robot under
uncertainty of both visual data and dead reckoning data. When a robot passes through a …

In this article we present a biologically inspired approach to predictive task-dependent gaze
control for active vision systems based on maximization of visual information. In this context …

How to enable a robot to explore in an unknown environment containing obstacles via local
sensing is an important research issue for robot navigation, map building, and localization …

Tremendous progress has been made recently in simultaneous localization and mapping of
unknown environments. Using sensor and odometry data from an exploring mobile robot, it …

Mobile robots need maps or other forms of geometric information about the environment to
navigate. The mobility sensors (LADAR, stereo, etc.) on these robotic vehicles can however …