Graph-Based Topological Exploration Planning in Large-Scale 3D Environments (ICRA 2021)

Our #icra2021 paper proposes a method of building a sparse topological map over large 3D environments that enables efficient and consistent exploration planning. This method utilizes convex polyhedron geometry to estimate and separate 3D space and uses a bifurcated planning framework with adaptive traversability sensing to reduce backtracking maneuvers and support a consistent exploration behavior.

Видео Graph-Based Topological Exploration Planning in Large-Scale 3D Environments (ICRA 2021) канала Fan Yang