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Next: Spatial Abstraction and Mapping Up: Mobile Robotics Previous: Environment Recovery from Sonar

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. 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. [].60 Paths of convergence for robot localization based on various starting estimates. The true position is in the center.dudek:figure10.a

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997