Implementation considerations for robotic exploration algorithms on platforms with hardware constraints

Abstract

The process of exploring an unstructured environment presents several difficulties during the implementation on platforms with limited processing capabilities. Commonly used exploration techniques, and considerations for their implementation in limited hardware systems are mentioned in this paper. Problems encountered with topological maps are analyzed, particularly those in the form of a tree during exploration. The results obtained with the Jetson Nano platform to process a point cloud generated by the Intel Realsense D435 camera are also exposed. Details are explained to take into account with the memory speed are also explained