Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 29, Issue 4, Pages 428-459Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364909100586
Keywords
mapping; localization; autonomous agents; cognitive robotics
Categories
Funding
- Texas Advanced Research Program [3658-0170-2007]
- National Science Foundation [IIS-0413257, IIS-0713150, IIS-0750011]
- National Institutes of Health [EY016089]
Ask authors/readers for more resources
We propose a factored approach to mobile robot map-building that handles qualitatively different types of uncertainty by combining the strengths of topological and metrical approaches. Our framework is based on a computational model of the human cognitive map; thus it allows robust navigation and communication within several different spatial ontologies. This paper focuses exclusively on the issue of map-building using the framework. Our approach factors the mapping problem into natural subgoals: building a metrical representation for local small-scale spaces; finding a topological map that represents the qualitative structure of large-scale space; and ( when necessary) constructing a metrical representation for large-scale space using the skeleton provided by the topological map. We describe how to abstract a symbolic description of the robot's immediate surround from local metrical models, how to combine these local symbolic models in order to build global symbolic models, and how to create a globally consistent metrical map from a topological skeleton by connecting local frames of reference.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available