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Topological mapping with sensing-limited robots

By Wesley H. Huang and Kristopher R. Beevers


Abstract. Most mobile robot mapping and exploration research makes use of longrange, powerful sensors such as laser rangefinders to create maps. In this paper we take a different approach, creating maps using robots with limited sensing capabilities, most notably in their sensor range. Our prototype robots use only five infrared range sensors with a maximum range of 80 cm; in general, these robots cannot “see ” both sides of a hallway. We present an algorithm for such a robot to build a topological map in the presence of sensing and odometry error. In doing so, we develop a paradigm to extend topological mapping to open spaces, long considered a deficiency of topological mapping; we also introduce an evidential approach to the problem of “closing the loop.”

Publisher: Springer
Year: 2004
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
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