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

doi:10.1109/icrae50850.2020.9310862

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 Center Wels

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution › peer-review

10 Citations (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 language	English
Title of host publication	2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020
Pages	187-191
Number of pages	5
ISBN (Electronic)	9781728189819
DOIs	https://doi.org/10.1109/icrae50850.2020.9310862
Publication status	Published - 20 Nov 2020

Publication series

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

Keywords

SLAM
exploration
mobile robots
robotics

Access to Document

10.1109/icrae50850.2020.9310862

Cite this

Louback da Silva Lubanco, D., Pichler-Scheder, M., Schlechter, T., Scherhäufl, M., & Kastl, C. (2020). A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms. In 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020 (pp. 187-191). Article 9310862 (2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020). https://doi.org/10.1109/icrae50850.2020.9310862

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title = "A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms",

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.",

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author = "\{Louback da Silva Lubanco\}, Daniel and Markus Pichler-Scheder and Thomas Schlechter and Martin Scherh{\"a}ufl and Christian Kastl",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.",

year = "2020",

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language = "English",

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Louback da Silva Lubanco, D, Pichler-Scheder, M, Schlechter, T, Scherhäufl, M & Kastl, C 2020, A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms. in 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020., 9310862, 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020, pp. 187-191. https://doi.org/10.1109/icrae50850.2020.9310862

A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms. / Louback da Silva Lubanco, Daniel; Pichler-Scheder, Markus; Schlechter, Thomas et al.
2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020. 2020. p. 187-191 9310862 (2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020).

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution › peer-review

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T1 - A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms

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AU - Schlechter, Thomas

AU - Scherhäufl, Martin

AU - Kastl, Christian

PY - 2020/11/20

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N2 - 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.

AB - 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.

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Louback da Silva Lubanco D, Pichler-Scheder M, Schlechter T, Scherhäufl M, Kastl C. A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms. In 2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020. 2020. p. 187-191. 9310862. (2020 5th International Conference on Robotics and Automation Engineering, ICRAE 2020). doi: 10.1109/icrae50850.2020.9310862

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

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