IEEE Robotics & Automation Magazine - September 2019 - 78

A Reproducible
Approach to
Measurable
Robotics

©ISTOCKPHOTO.COM/CYLONPHOTO

Time-Constrained
Exploration Using
Toposemantic
Spatial Models

R-Article

By Jose Luis Susa Rincon and Stefano Carpin

A

s robots become ubiquitous in our everyday lives,
they are more and more often assigned complex
tasks involving multiple, simultaneous objectives.
Moreover, efficiency, envisioned as the ability
to complete more tasks in a given amount of
time, is becoming increasingly important. At the same
Digital Object Identifier 10.1109/MRA.2019.2923452
Date of publication: 5 September 2019

78

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

SEPTEMBER 2019

time, spurred by progress in machine learning, there is a
tendency to explore novel designs in which robots rely
more on visual sensors and less on traditional sensors like
range finders.
Starting from these premises, the objective of this article is
twofold. First, we revisit the classic exploration problem,
introducing temporal constraints in the task and embracing a
toposemantic spatial representation that includes no metric
attribute. To assess the strengths and weaknesses of the various exploration methods abstracting from the underlying
technical implementation, we perform a set of massive simulations in the Robot Operating System (ROS) using its Gazebo simulation environment. This simulation-based approach
1070-9932/19©2019IEEE



http://www.ISTOCKPHOTO.COM/CYLONPHOTO

IEEE Robotics & Automation Magazine - September 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2019

Contents
IEEE Robotics & Automation Magazine - September 2019 - Cover1
IEEE Robotics & Automation Magazine - September 2019 - Cover2
IEEE Robotics & Automation Magazine - September 2019 - Contents
IEEE Robotics & Automation Magazine - September 2019 - 2
IEEE Robotics & Automation Magazine - September 2019 - 3
IEEE Robotics & Automation Magazine - September 2019 - 4
IEEE Robotics & Automation Magazine - September 2019 - 5
IEEE Robotics & Automation Magazine - September 2019 - 6
IEEE Robotics & Automation Magazine - September 2019 - 7
IEEE Robotics & Automation Magazine - September 2019 - 8
IEEE Robotics & Automation Magazine - September 2019 - 9
IEEE Robotics & Automation Magazine - September 2019 - 10
IEEE Robotics & Automation Magazine - September 2019 - 11
IEEE Robotics & Automation Magazine - September 2019 - 12
IEEE Robotics & Automation Magazine - September 2019 - 13
IEEE Robotics & Automation Magazine - September 2019 - 14
IEEE Robotics & Automation Magazine - September 2019 - 15
IEEE Robotics & Automation Magazine - September 2019 - 16
IEEE Robotics & Automation Magazine - September 2019 - 17
IEEE Robotics & Automation Magazine - September 2019 - 18
IEEE Robotics & Automation Magazine - September 2019 - 19
IEEE Robotics & Automation Magazine - September 2019 - 20
IEEE Robotics & Automation Magazine - September 2019 - 21
IEEE Robotics & Automation Magazine - September 2019 - 22
IEEE Robotics & Automation Magazine - September 2019 - 23
IEEE Robotics & Automation Magazine - September 2019 - 24
IEEE Robotics & Automation Magazine - September 2019 - 25
IEEE Robotics & Automation Magazine - September 2019 - 26
IEEE Robotics & Automation Magazine - September 2019 - 27
IEEE Robotics & Automation Magazine - September 2019 - 28
IEEE Robotics & Automation Magazine - September 2019 - 29
IEEE Robotics & Automation Magazine - September 2019 - 30
IEEE Robotics & Automation Magazine - September 2019 - 31
IEEE Robotics & Automation Magazine - September 2019 - 32
IEEE Robotics & Automation Magazine - September 2019 - 33
IEEE Robotics & Automation Magazine - September 2019 - 34
IEEE Robotics & Automation Magazine - September 2019 - 35
IEEE Robotics & Automation Magazine - September 2019 - 36
IEEE Robotics & Automation Magazine - September 2019 - 37
IEEE Robotics & Automation Magazine - September 2019 - 38
IEEE Robotics & Automation Magazine - September 2019 - 39
IEEE Robotics & Automation Magazine - September 2019 - 40
IEEE Robotics & Automation Magazine - September 2019 - 41
IEEE Robotics & Automation Magazine - September 2019 - 42
IEEE Robotics & Automation Magazine - September 2019 - 43
IEEE Robotics & Automation Magazine - September 2019 - 44
IEEE Robotics & Automation Magazine - September 2019 - 45
IEEE Robotics & Automation Magazine - September 2019 - 46
IEEE Robotics & Automation Magazine - September 2019 - 47
IEEE Robotics & Automation Magazine - September 2019 - 48
IEEE Robotics & Automation Magazine - September 2019 - 49
IEEE Robotics & Automation Magazine - September 2019 - 50
IEEE Robotics & Automation Magazine - September 2019 - 51
IEEE Robotics & Automation Magazine - September 2019 - 52
IEEE Robotics & Automation Magazine - September 2019 - 53
IEEE Robotics & Automation Magazine - September 2019 - 54
IEEE Robotics & Automation Magazine - September 2019 - 55
IEEE Robotics & Automation Magazine - September 2019 - 56
IEEE Robotics & Automation Magazine - September 2019 - 57
IEEE Robotics & Automation Magazine - September 2019 - 58
IEEE Robotics & Automation Magazine - September 2019 - 59
IEEE Robotics & Automation Magazine - September 2019 - 60
IEEE Robotics & Automation Magazine - September 2019 - 61
IEEE Robotics & Automation Magazine - September 2019 - 62
IEEE Robotics & Automation Magazine - September 2019 - 63
IEEE Robotics & Automation Magazine - September 2019 - 64
IEEE Robotics & Automation Magazine - September 2019 - 65
IEEE Robotics & Automation Magazine - September 2019 - 66
IEEE Robotics & Automation Magazine - September 2019 - 67
IEEE Robotics & Automation Magazine - September 2019 - 68
IEEE Robotics & Automation Magazine - September 2019 - 69
IEEE Robotics & Automation Magazine - September 2019 - 70
IEEE Robotics & Automation Magazine - September 2019 - 71
IEEE Robotics & Automation Magazine - September 2019 - 72
IEEE Robotics & Automation Magazine - September 2019 - 73
IEEE Robotics & Automation Magazine - September 2019 - 74
IEEE Robotics & Automation Magazine - September 2019 - 75
IEEE Robotics & Automation Magazine - September 2019 - 76
IEEE Robotics & Automation Magazine - September 2019 - 77
IEEE Robotics & Automation Magazine - September 2019 - 78
IEEE Robotics & Automation Magazine - September 2019 - 79
IEEE Robotics & Automation Magazine - September 2019 - 80
IEEE Robotics & Automation Magazine - September 2019 - 81
IEEE Robotics & Automation Magazine - September 2019 - 82
IEEE Robotics & Automation Magazine - September 2019 - 83
IEEE Robotics & Automation Magazine - September 2019 - 84
IEEE Robotics & Automation Magazine - September 2019 - 85
IEEE Robotics & Automation Magazine - September 2019 - 86
IEEE Robotics & Automation Magazine - September 2019 - 87
IEEE Robotics & Automation Magazine - September 2019 - 88
IEEE Robotics & Automation Magazine - September 2019 - 89
IEEE Robotics & Automation Magazine - September 2019 - 90
IEEE Robotics & Automation Magazine - September 2019 - 91
IEEE Robotics & Automation Magazine - September 2019 - 92
IEEE Robotics & Automation Magazine - September 2019 - 93
IEEE Robotics & Automation Magazine - September 2019 - 94
IEEE Robotics & Automation Magazine - September 2019 - 95
IEEE Robotics & Automation Magazine - September 2019 - 96
IEEE Robotics & Automation Magazine - September 2019 - 97
IEEE Robotics & Automation Magazine - September 2019 - 98
IEEE Robotics & Automation Magazine - September 2019 - 99
IEEE Robotics & Automation Magazine - September 2019 - 100
IEEE Robotics & Automation Magazine - September 2019 - 101
IEEE Robotics & Automation Magazine - September 2019 - 102
IEEE Robotics & Automation Magazine - September 2019 - 103
IEEE Robotics & Automation Magazine - September 2019 - 104
IEEE Robotics & Automation Magazine - September 2019 - 105
IEEE Robotics & Automation Magazine - September 2019 - 106
IEEE Robotics & Automation Magazine - September 2019 - 107
IEEE Robotics & Automation Magazine - September 2019 - 108
IEEE Robotics & Automation Magazine - September 2019 - 109
IEEE Robotics & Automation Magazine - September 2019 - 110
IEEE Robotics & Automation Magazine - September 2019 - 111
IEEE Robotics & Automation Magazine - September 2019 - 112
IEEE Robotics & Automation Magazine - September 2019 - Cover3
IEEE Robotics & Automation Magazine - September 2019 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com