This paper investigates the efficiency of autonomous indoor exploration utilizing simulation testing environments in Gazebo. Two exploration methods, floodfill algorithm and Frontier-based algorithm, using the 2D LiDA...
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ISBN:
(纸本)9798331517939;9788993215380
This paper investigates the efficiency of autonomous indoor exploration utilizing simulation testing environments in Gazebo. Two exploration methods, floodfill algorithm and Frontier-based algorithm, using the 2D LiDAR sensor are compared. The floodfill algorithm employs a systematic traversal approach, while the Frontier-based method dynamically detects and navigates towards frontiers. Results indicate that the Frontier-based approach outperforms floodfill algorithm in terms of efficiency and map completeness, particularly in complex environments. The study underscores the importance of the Frontier-based strategy for autonomous indoor exploration and paves the way for enhanced robotic applications in diverse domains.
Simulation systems are important tools for the development of training tasks in different application domains. The use of military simulated problems (MSPs) in simulation systems allows the introduction of challenging...
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ISBN:
(纸本)9781728137988
Simulation systems are important tools for the development of training tasks in different application domains. The use of military simulated problems (MSPs) in simulation systems allows the introduction of challenging decision making situations to military trainees so that they can exercise their skills. To support the implementation of such MSPs in an artillery battery simulator, this work investigates how to compute dynamic changes, such as flooding-driven modifications, into the hierarchical and irregular navigation grid structure expressing the environmental characteristics of large virtual terrain scenarios. The paper describes an efficient mechanism to process these modifications during simulation runtime, without affecting the overall system response time, thus the user interaction with simulations. Experimental results show that the proposed techniques are able to handle time-constrained modifications of large virtual terrain scenarios.
Natural porous materials have a large area of usage, from micromechanical designs to medical applications, due to their geometrical forms and chemical properties. Mechanical properties of porous materials are usually ...
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Natural porous materials have a large area of usage, from micromechanical designs to medical applications, due to their geometrical forms and chemical properties. Mechanical properties of porous materials are usually performed after several homogenized applications because of their complex geometric forms. It is known that usage of homogenized details of microarchitecture in macro structural analyses provides savings in terms time and computational effort. However, realistic analyses are performed by including microarchitectural details in models, due to advancing technology and reverse engineering techniques. In this study, modal properties of a porous structure are investigated by taking microstructural details into consideration according to the voxel-based finite element model, and significant modal behavior properties, which cannot be observed in routine modal analyses, are determined. In addition, analyses using the homogenized model of porous structure are performed, and it is seen that the obtained results are not only different numerically but also have different modal behavior from the porous model. Special modes, defined as local modes, which are not seen in homogenized models, are observed in models by using the voxel-based finite element method and analyses are comprehensively performed.
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