Computationally Efficient Harmonic-Based Reactive Exploration

Panagiotis D. Grontas, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


Although Harmonic Potential Fields constitute a powerful tool for tackling the autonomous robot exploration problem, yet their applicability is limited by the heavy computational load involved in solving the Laplace equation in real time. In this letter, we propose a computationally efficient exploration scheme employing a Fast Multipole accelerated Boundary Element Method, which enjoys both linear complexity w.r.t. The boundary's size as well as linear memory requirements. Furthermore, we devise an adaptive control law for the specified boundary conditions that allows us to tune the robot's behavior without affecting the inherent safety and convergence properties of the underlying potential field. Finally, we validate the performance of the proposed exploration scheme through extensive realistic simulations.

Original languageEnglish (US)
Article number8977309
Pages (from-to)2280-2285
Number of pages6
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 2020


  • Motion and path planning
  • mapping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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