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Mapping Using Non-metric Information

G. Dudek, E. Milios, M. Jenkin (York U.), D. Wilkes (U. of Toronto)

Autonomous navigation using sensory information often depends on a usable map of the environment. This work deals with the automatic creation of such a map by one or more autonomous agents and the minimal requirements such a map must satisfy in order to be useful. Recent emphasis is on collections of robots that are loosely coupled. One aspect of this work is the analysis of how uncertainty either in the map or in sensing devices relates to the reliability and cost of navigation and path planning. Another aspect is the development of sensing strategies and behaviours that facilitate reliable self-location and map construction.
 


Annual Report

Fri Nov 26 23:00:32 GMT 1999