Need of Exploration in Partially Known Maps (Appendix C)

This video illustrates how overhead cameras can be used to create a floor cost map that will allow the robot to plan a path that is outside the field of view of its onboard sensors. The video shows two different experiments:
1) During the period 00:00 - 01:45, the Nav2 running on the system utilizes only the robot’s onboard sensors (floor perception is not enabled). We set a goal far from the robot’s field of view. In this case, the goal is outside the onboard cost map. The planner fails to plan a path toward this goal. We chose another goal slightly closer to the robot, and again, it fails. Then we choose a goal within the cost map created by onboard sensors. It now plans a path toward the goal, but as it moves toward the goal and builds upon its cost map, it is required to replan and change its direction. In the video, it can be seen that the planner is unable to reach the goal after exploring much of the environment.
2) In the second experiment, beginning at 01:45, the robot utilizes a floor cost map. We pass the same goal that was set at the beginning of the previous experiment. As a result, the robot can plan a path, update the floor map using its onboard sensors, replan, and finally reach the goal by traversing a nearly optimal route.