Efficient Exploration of Unstructured Environments

Abstract

In robotics exploration, the map generation is a very important task, since it allows the robot to move through the environment without colliding with the obstacles. This paper presents an introduction to the concept of exploration and the representations commonly used in maps. Some of the difficulties encountered in the robotics environment for the implementation of exploration algorithms in simulators are exposed, and how they can be solved by using Docker containers. Finally, part of the work currently under development is presented, aimed at improving the search and storage time of the nodes of a topological map, using a Hash table.