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Augmenting topology-based maps with geometric information
La Sapienza - Roma.
Örebro universitet, Institutionen för teknik. (AASS, Mobile Robotics Lab)ORCID-id: 0000-0001-8229-1363
2002 (engelsk)Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 40, nr 2, s. 91-97Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Topology-based maps are a new representation of the workspace of a mobile robot, which capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. A topology-based map can represent the environment in terms of open spaces (rooms and corridors) connected by narrow passages (doors and junctions). In this paper, we show how to enrich a topology-based map with geometric information useful for the generation and execution of navigation plans. Both the topology-based map and its geometric information are automatically extracted from sensor data. We illustrate the use of topology-based maps for planned behavior-based navigation on a real robot.

sted, utgiver, år, opplag, sider
2002. Vol. 40, nr 2, s. 91-97
Emneord [en]
Enviroment modelling, topological maps, occupancy grid, mathematical morphology
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-3700DOI: 10.1016/S0921-8890(02)00234-8OAI: oai:DiVA.org:oru-3700DiVA, id: diva2:137998
Tilgjengelig fra: 2007-08-01 Laget: 2007-08-01 Sist oppdatert: 2018-01-13bibliografisk kontrollert

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