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Spatial Mapping with Uncertain Data

As a sensor-based mobile robot explores an unknown environment it collects percepts about the world it is in. These percepts may be ambiguous individually but as a collection they provide strong constraints on the topology of the environment. Appropriate exploration strategies and representations allow a limited set of possible world models to be considered as maps of the environment. The structure of the real world and the exploration method used specify the reliability of the final map and the computational and perceptual complexity of constructing it. Computational tools being used range from graph-theoretic to connectionist.

G. Dudek

Annual Report

Mon Jun 26 21:22:20 GMT 2000