Provable harmonic fields-based robotic exploration of 3D indoor
environments

Kopo, Raksi

dc.contributor.author	Kopo, Raksi	en
dc.date.accessioned	2024-01-26T09:40:35Z
dc.date.available	2024-01-26T09:40:35Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/58671
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.26367
dc.rights	Default License
dc.subject	3D robotic exploration	en
dc.subject	Harmonic fields	en
dc.title	Provable harmonic fields-based robotic exploration of 3D indoor environments	en
heal.type	bachelorThesis
heal.classification	Robotics	en
heal.classification	Control	en
heal.language	en
heal.access	campus
heal.recordProvider	ntua	el
heal.publicationDate	2023-06-12
heal.abstract	This work presents a safe and efficient methodology for 3D autonomous indoor exploration using Harmonic Potential Fields (HPF). The challenge of applying HPF in complex 3D environments rests on high computational load involved in solving the Laplace equation. To address this issue, the proposed solution utilizes the Fast Multiple accelerated Boundary Element Method (FM-BEM) with boundary values controlled to ensure both safety and convergence. Furthermore, algorithms for robust boundary extraction and removal explored regions were developed in order to improve performance of the FMM-BEM solver. The methodology is validated through simulations that demonstrate its efficiency, safety and convergence.	el
heal.advisorName	Kyriakopoulos, Kostas J.	en
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος	el
heal.committeeMemberName	Βοσνιάκος, Γεώργιος - Χριστόφορος	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου	el
heal.academicPublisherID	ntua
heal.numberOfPages	58 σ.	el
heal.fullTextAvailability	false