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dc.contributor.author | Godoy-Calvo, Jaime![]() |
es_ES |
dc.contributor.author | Lin-Yang, Dahui![]() |
es_ES |
dc.contributor.author | Vázquez-Martín, Ricardo![]() |
es_ES |
dc.contributor.author | García-Cerezo, Alfonso![]() |
es_ES |
dc.date.accessioned | 2023-04-18T12:43:11Z | |
dc.date.available | 2023-04-18T12:43:11Z | |
dc.date.issued | 2023-03-31 | |
dc.identifier.issn | 1697-7912 | |
dc.identifier.uri | http://hdl.handle.net/10251/192803 | |
dc.description.abstract | [EN] Exploration in disaster areas provides valuable, high-fidelity information to rescue personnel in disaster situations, with the potential to reduce the time for search and recovery of victims. This paper presents an exploration strategy based on entropy to evaluate the frontiers of the known part of the map using an expectation function. The proposed method employs this metric for exploration planning based on the expectation of future information gain, ensuring a strategy that minimises exploration time while maximising the inclusion of new information into the map. This approach avoids the dependency of the information gain method on fixed-size maps and proposes a sensor-independent model that considers the distribution of obstacles in the frontiers' surroundings. In the evaluation, results are presented in different environments with simulations that demonstrate the efficiency in the exploration planning of the unknown areas, until the complete knowledge of the environment to be explored is completed. The proposed method is publicly available at Godoy-Calvo et al. (2022). | es_ES |
dc.description.abstract | [ES] La exploración en entornos de catástrofes proporciona información valiosa de alta fidelidad al personal de los dispositivos de rescate ante situaciones de desastre, ofreciendo la posibilidad de reducir el tiempo de búsqueda y recuperación de víctimas. Este trabajo presenta un método de exploración que evalúa las fronteras del entorno conocido basado en la entropía mediante una función de expectativa, con el objetivo de maximizar la ganancia de información. De esta forma el método propuesto emplea esta métrica para planificar la exploración en base a la expectativa de ganancia de información futura, asegurando una estrategia que minimiza el tiempo de exploración al mismo tiempo que maximiza la incorporación de nueva información al mapa. Debido al enfoque empleado para resolver el problema se consigue evitar la dependencia del método de ganancia de información con los mapas de tamaño fijo, y se propone un modelo independiente del sensor utilizado en la exploración donde se considera la distribución de obstáculos en la cercanía de las fronteras. Para su evaluación, se presentan resultados en diferentes entornos con simulaciones que demuestran la mayor eficiencia en la planificación de la exploración de las zonas desconocidas hasta completar el conocimiento completo del entorno a explorar. El método propuesto está públicamente disponible en Godoy-Calvo et al. (2022). | es_ES |
dc.description.sponsorship | Este trabajo ha sido parcialmente financiado por el Ministerio de Ciencia, Innovación y Universidades, Gobierno de España, proyecto RTI2018-093421-B-I00 y PID2021-122944OB-I00. | es_ES |
dc.language | Español | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
dc.rights | Reconocimiento - No comercial - Compartir igual (by-nc-sa) | es_ES |
dc.subject | Mobile robotics | es_ES |
dc.subject | Autonomous mobile robotics | es_ES |
dc.subject | Robot navigation | es_ES |
dc.subject | Entropy | es_ES |
dc.subject | Information theory | es_ES |
dc.subject | Robótica móvil | es_ES |
dc.subject | Robótica móvil autónoma | es_ES |
dc.subject | Navegación de robots | es_ES |
dc.subject | Entropía | es_ES |
dc.subject | Teoría de la información | es_ES |
dc.title | Exploración dinámica de fronteras en entornos desconocidos basada en la entropía | es_ES |
dc.title.alternative | Dynamic entropy-based method for exploring frontiers in unknown environments | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.4995/riai.2023.18740 | |
dc.relation.projectID | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-093421-B-I00/ES/HACIA EQUIPOS RESILIENTES DE MANIPULADORES UGV Y UAV PARA TAREAS ROBOTICAS DE BUSQUEDA Y RESCATE/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/AEI//PID2021-122944OB-I00 | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.description.bibliographicCitation | Godoy-Calvo, J.; Lin-Yang, D.; Vázquez-Martín, R.; García-Cerezo, A. (2023). Exploración dinámica de fronteras en entornos desconocidos basada en la entropía. Revista Iberoamericana de Automática e Informática industrial. 20(2):213-223. https://doi.org/10.4995/riai.2023.18740 | es_ES |
dc.description.accrualMethod | OJS | es_ES |
dc.relation.publisherversion | https://doi.org/10.4995/riai.2023.18740 | es_ES |
dc.description.upvformatpinicio | 213 | es_ES |
dc.description.upvformatpfin | 223 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 20 | es_ES |
dc.description.issue | 2 | es_ES |
dc.identifier.eissn | 1697-7920 | |
dc.relation.pasarela | OJS\18740 | es_ES |
dc.contributor.funder | Agencia Estatal de Investigación | es_ES |
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