Simultaneous localization and map building: A global topological model with local metric maps

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2001, Pages 421-426

  Tomatis, Nicola ^a   Nourbakhsh, Illah ^b   Siegwart, Roland ^a  

^a EPFL   (Switzerland)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONFORMAL MAPPING; DECISION THEORY; GLOBAL OPTIMIZATION; INTELLIGENT CONTROL; KALMAN FILTERING; MARKOV PROCESSES; MATHEMATICAL MODELS; OBSERVABILITY; ROBUSTNESS (CONTROL SYSTEMS);

GLOBAL TOPOLOGICAL MODEL; LOCAL METRIC MAPS; LOCALIZATION BUILDING; MAP BUILDING; PARTIALLY OBSERVABLE MARKOV DECISION PROCESS;

INTELLIGENT ROBOTS;

EID: 0035558071     PISSN: None     EISSN: None     Source Type: Journal    
DOI: 10.1109/IROS.2001.973393     Document Type: Article

References (18)

1. Feature extraction and scene interpretation for map-based navigation and map building
2. Multisensor on-the-fly localization: Precision and reliability for applications
3. Acting under uncertainty: Discrete Bayesian models for mobile-robot navigation
4. Building a global map of the environment of a mobile robot: The importance of correlations
5. Simultaneous localization and map building for mobile robots: A landmark-based approach
6. World modeling and position estimation for a mobile robot using ultrasonic ranging
7. Monte Carlo localization for mobile robots
8. Markov localization: A probabilistic framework for mobile robot localization and navigation
9. LOLA: Probabilistic navigation for topological maps
10. Robot navigation with Markov models: A framework for path planning and learning with limited computational resources
11. A qualitative approach to robot exploration and map-learning
12. Automatic mapping of dynamic office environments
13. Dynamic map building for an autonomous mobile robot
14. Dervish: An office-navigating robot
15. Estimating uncertain spatial relationships in robotics
16. Integrating grid-based and topological maps for mobile robot navigation
17. Integrating topological and metric maps for mobile robot navigation: A statistical approach
18. A hybrid approach for robust and precise mobile robot navigation with compact environment modeling