A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms

Daniel Louback da Silva Lubanco, Markus Pichler-Scheder, Thomas Schlechter, Martin Scherhäufl, Christian Kastl

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

1 Citation (Scopus)

Abstract

Frontier-based exploration can be used in a wide-range of robotics applications. For example, a common utilization of exploration algorithms is in Urban Search and Rescue (USAR). In order to define the next place a robot shall visit, cost or utility functions in frontier-based exploration are often employed. In this paper we compare five different cost or utility functions known in the scientific community which are used in frontierbased exploration algorithms. This paper seeks to address two main goals: (1) to provide and explain utility and cost functions which are used in the exploration problem along with steps of how to implement them; (2) to show the results of each algorithm using a simulated environment. Finally, a discussion about the peculiarities and notable differences between the exploration methods as well as the consequences of their differences is presented.

Original languageEnglish
Title of host publication2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Pages187-191
Number of pages5
ISBN (Electronic)9781728189819
DOIs
Publication statusPublished - 20 Nov 2020

Publication series

Name2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020

Keywords

  • SLAM
  • exploration
  • mobile robots
  • robotics

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