Using Occupancy Grids for Mobile Robot Perception and Navigation

Computer

Volumn 22, Issue 6, 1989, Pages 46-57

  Elfes, Alberto ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

PROBABILITY; SONAR; VEHICLES--NAVIGATION SYSTEMS;

MOBILE ROBOT PERCEPTION/NAVIGATION; PATH PLANNING; PROBABILISTIC SPATIAL INFORMATION REPRESENTATION; ROBOT POSITION UNCERTAINTY; SONAR BASED MAPPING;

ROBOTS, INDUSTRIAL;

EID: 0024684020     PISSN: 00189162     EISSN: None     Source Type: Trade Journal    
DOI: 10.1109/2.30720     Document Type: Article

References (9)

1. A. Elfes, Occupancy Grids: A Probabilistic Framework for Mobile Robot Perception and Navigation, PhD thesis. Electrical and Computer Engineering Dept./Robotics Inst., Carnegie Mellon Univ., 1989.
2. A. Elfes, “A Tesselated Probabilistic Representation for Spatial Robot Perception,” Proc. 1989 NASA Conf. on Space Telerobotics, NASA/Jet Propulsion Laboratory, California Inst. of Technology, Pasadena, Calif., Jan. 31-Feb. 2, 1989.
3. A. Elfes, “Sonar-Based Real-World Mapping and Navigation,” IEEE J. Robotics and Automation, vol. RA-3, No. 3, June 1987.
4. A. Elfes and L.H. Matthies, “Sensor Integration for Robot Navigation: Combining Sonar and Stereo Range Data in a Grid-Based Representation,” Proc. 26th IEEE Conf. on Decision and Control, Dec. 1987. Also in Proc. 1988 IEEE Int'f Conf. on Robotics and Automation, CS Press, Los Alamitos, Calif. and Synthesis, MIT Press, Cambridge, Mass., 1983.
5. J.O. Berger, Statistical Decision Theory and Bayesian Analysis. 2nd ed. Springer-Verlag, Berlin. 1985.
6. A.E. Bryson and Y.C. Ho, Applied Optimal Control, Blaisdell Publishing. Waltham, Mass., 1969.
7. D.J. Kriegman, E. Triendl. and T.O. Binford, “A Mobile Robot: Sensing. Planning, and Locomotion,” Proc. 1987 IEEE Int'f Conf. on Robotics and Automation, CS Press, Los Alamitos. Calif., April 1987.
8. H.P. Moravec and A. Elfes. “High-Resolution Maps from Wide-Angle Sonar,” Proc. IEEE Int'l Conf. on Robotics and Automation, CS Press, Los Alamitos, Calif., March 1985.
9. R.C. Smith, M. Self, and P. Cheeseman, “A Stochastic Map for Uncertain Spatial Relationships,” Proc. 1987 Int'l Syrnp. on Robotics Research. MIT Press, Cambridge, Mass., 1987.