Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers

We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image classifier that automatically detects objects and updates an information map to guide further exploration and localization of objects. Additionally, to improve outcomes of the information collected by our robot's visual sensor, we present a decomposition of the ergodic optimization problem as bi-level coarse and fine solvers, which act respectively on the robot's body and the robot's visual sensor. Our approach is applied to geological survey and localization of rock formations for Mars rovers, with real images from Mars rovers used to train the image classifier. Results demonstrate 1) improved localization of rock formations compared to naive approaches while 2) minimizing the path length of the exploration through the bi-level exploration.

Authors

• Elena Wittemyer
• Ian Abraham

Keywords

• Location awareness
• Space vehicles
• Surveys
• Visualization
• Mars
• Navigation
• Robot sensing systems
• Optimization Problem
• Image Classification
• Mobile Robot
• Vision Sensors
• Sediment
• Convolutional Neural Network
• Workspace
• Simulation Environment
• Kullback-Leibler
• Baseline Methods
• Path Planning
• Computational Overhead
• Trajectory Optimization
• Camera Position
• Robot Navigation
• Robot State
• Bilevel Optimization
• Camera Orientation
• Occupancy Grid
• Robot Pose
• Orientation Of The Robot
• Spherical Space
• Occupancy Map
• Visibility Of Issues
• Body Pose