Synthesis of indoor maps in presence of uncertainty

Robotics and Autonomous Systems

Volumn 22, Issue 2, 1997, Pages 103-114

  Fusiello, Andrea ^a   Caprile, Bruno ^a,b  

^a ITC IRST   (Italy)

^b Department of Computer Science and School of Operations Research and Information Engineering   (United States)

Author keywords

Dead reckoning navigation; Machine learning; Map synthesis; Robot exploration; Sonar

Indexed keywords

KALMAN FILTERING; NAVIGATION; POSITION CONTROL; RANGE FINDERS; ROBOT LEARNING; ROBOTICS; SENSOR DATA FUSION; SONAR;

DEAD RECKONING NAVIGATION; MAP SYNTHESIS;

MOTION PLANNING;

EID: 0031272601     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(97)00034-1     Document Type: Article

References (27)

1. K. Basye, Graph-based mapping by mobile robots, in: Wolfe and Chun, eds., Mobile Robot VII (The International Society for Optical Engineering, 1992) 643-649.
2. K. Basye and T. Dean, Map learning with indistinguishable locations, in: Lemmer and Kanal, eds., Uncertainty in Artificial Intelligence, Vol. 5 (Elsevier, 1990) 331-341.
3. J. Borenstein and Y. Koren, Histogramic in-motion mapping for mobile robot obstacle avoidance, IEEE Transactions on Robotics and Automation 1 (4) (1991) 535-539.
4. R.A. Brooks, Solving the find-path problem by good representation of free space, in: Proc. Nat. Conf. on Artificial Intelligence (1982) 381-386.
5. J. Canny and B. Donald, Simplified voronoi diagrams, Comput. Geometry 3 (3) (1988) 219-236.
6. R. Cattoni, T. Coianiz and B. Caprile, Planning and reactivity for the mobile robot of MAIA, in: Proc. 6th Int. Conf. on Advanced Robotics, Tokyo, Japan (1993).
7. R. Cattoni, G. Di Caro, M. Aste and B. Caprile, Bridging the gap between planning and reactivity: a layered architecture for autonomous indoor navigation, in: Proc. IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems IROS'94, Munich, Germany (1994) 878-885.
8. R. Chatila and J.P. Laumond, Position referencing and consistent world modeling for mobile robots, in: Proc. IEEE Int. Conf. on Robotics and Automation (1985) 138-145.
9. J.L. Crowley, Navigation for an intelligent mobile robot, IEEE J. Robotics and Automation 1 (1) (1985) 31-41.
10. J.L. Crowley and F. Ramparany, Mathematical tools for representing uncertainty in perception, in: A. Kak and S. Chen, eds., Proc. Workshop on Spatial Reasoning and Multi-sensor Fusion (Morgan Kaufmann, Los Altos, CA, 1987) 293-302.
11. T. Dean, D. Angluin, K. Basye, S. Engelson, L. Kaelbling, E. Kokkevis and O. Maron, Inferring finite automata with stochastic output functions and application to map learning, Technical Report CS-92-27, Brown University, Department of Computer Science (1992).
12. T. Dean, K. Basye and L. Kaelbling, Uncertainty in graph-based map learning, in: J. Connel and S. Mahadevan, eds., Robot Learning (Kluwer Academic, Dordrecht, 1993).
13. G. Dudek, P. Freedman and S. Hadjres, Using uncertain sensing data to create reliable maps: an algorithm for exploring/mapping unknown graph-like worlds, in: Wolfe and Chun, eds., Mobile Robot VII (The International Society for Optical Engineering, 1982) 650-660.
14. G. Dudek, E. Milios and D. Wilkes, Robotic exploration as graph construction, IEEE Trans. on Robotics and Automation 7 (6) (1991) 859-865.
15. C. Durieu, J. Opderbecke and G. Allegre, A data fusion application for location of a mobile robot using an odometer and a panoramic laser telemeter, in: Groen, Hirose and Thorpe, eds., Intelligent Autonomuos Systems (IOS Press, 1982) 519-529.
16. A. Elfes, Sonar-based real-world mapping and navigation, IEEE Journal of Robotics and Automation 3 (3) (1987) 249-265.
17. A. Gelb, ed., Applied Optimal Estimation (MIT Press, Cambridge, MA, 1974).
18. B. Kuipers, Modeling spatial knowledge, Cognitive Science 2 (1978) 129-153.
19. B. Kuipers and Y.T. Byun, A Robot exploration and mapping strategy based on a semantic hierarchy of spatial representations, Robotics and Autonomous Systems 8 (1991) 47-63.
20. J.J. Leonard and H.F. Durrant-Whyte, Mobile robot localization by tracking geometric beacons, IEEE Trans. on Robotics and Automation 7 (3) (1991) 376-382.
21. J.J. Leonard and H.F. Durrant-Whyte, Direct Sonar Sensing for Mobile Robot Navigation (Kluwer Academic, Dordrecht, 1992).
22. Maja J. Mataric, A distributed model for mobile robot environment-learning and navigation, Technical Report AI-TR 1228 (MIT Press, Cambridge, MA, 1990).
23. D. Miller, A spatial representation system for mobile robots, Proc. IEEE Int. Conf. Robotics and Automation (1985) 122-127.
24. H.P. Moravec and A. Elfes, High resolution maps from wide angle sonar, Proc. IEEE Int. Conf. Robotics and Automation (1985) 116-121.
25. T. Poggio and L. Stringa, A project for an intelligent system: vision and learning, Int. J. Quantum Chemistry 42 (1992) 727-739.
26. R. Smith, M. Self and P. Cheeseman, Estimating uncertain spatial relationships in robotics, in: Lemmer and Kanal, eds., Uncertainty in Artificial Intelligence, Vol. 2 (Elsevier, Amsterdam, 1988) 435-461.
27. C.M. Wang, Location estimation and uncertainty analysis for mobile robot, in: Cox and Wilfong, eds., Autonomous Robot Vehicles (Springer, 1990).