| In this paper we describe a method of mapping large scale static environments using a hybrid topological-metric model. A global map is formed from a set of local maps organized in a topological structure. Each local map contains quantitative environment information using a local reference frame. They are denoted as islands of reliability because they provide accurate metric information of the environment. The mapping problem then becomes where to place the islands of reliability and to what extent should they cover the environment. This is accomplished by defining the placement criteria in terms of the task the islands of reliability portray. |