oru.sePublikationer
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
An investigation of hybrid maps for mobile robots
Örebro University, Department of Technology.
2005 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

Autonomous robots typically rely on internal representations of the environment, or maps, to plan and execute their tasks. Several types of maps have been proposed in the literature, and there is general consensus that different types have different advantages and limitations, and that each type is more suited to certain tasks and less to others. Because of these reasons, it is becoming common wisdom in the field of mobile robotics to use hybrid maps that integrate several representations, usually of different types. Hybrid maps provide scalability and multiple views, allowing for instance to combine robot-centered and human-centered representations. There is, however, little understanding of the general principles that can be used to combine different maps into a hybrid one, and to make it something more than the sum of its parts. There is no systematic analysis of the different ways in which different maps can be combined, and how they can be made to cooperate. This makes it difficult to evaluate and compare different systems, and precludes us from getting a clear understanding of how a hybrid map can be designed or improved.

The investigation presented in this thesis aims to contribute to fill this foundational gap, and to get a clearer understanding of the nature of hybrid maps. To help in this investigation, we develop two tools: The first one is a conceptual tool, an analytical framework in which the main ingredients of a hybrid map are described; the second one is an empirical tool, a new hybrid map that allows us to experimentally verify our claims and hypotheses.

While these tools are themselves important contributions of this thesis, our investigation has resulted in the following additional outcomes:

• A set of concepts that allow us to better understand the structure and operation of hybrid maps, and that help us to design them, compare them, identify their problems, and possibly improve them;

• The identification of the notion of synergy as the fundamental way in which component maps inside a hybrid map cooperate.

To assess the significance of these outcomes, we make and validate the following claims:

1. Our framework allows us to classify and describe existing maps in a uniform way. This claim is validated constructively by making a thorough classification of the hybrid maps reported in the literature.

2. Our framework also allows us to enhance an existing hybrid map by identifying spots for improvement. This claim is verified experimentally by modifying an existing map and evaluating its performance against the original one.

3. The notion of synergy plays an important role in hybrid maps. This claim is verified experimentally by testing the performance of a hybrid map with and without synergy.

Place, publisher, year, edition, pages
Örebro: Örebro universitetsbibliotek , 2005. , 221 p.
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 20
Keyword [en]
Mobile robot, Hybrid map
National Category
Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-204ISBN: 91-7668-454-7 (print)OAI: oai:DiVA.org:oru-204DiVA: diva2:135802
Public defence
2006-02-03, Hörsal T, Teknikhuset, Örebro universitet, Örebro, 13:00
Opponent
Supervisors
Available from: 2005-12-23 Created: 2005-12-23 Last updated: 2011-06-01Bibliographically approved

Open Access in DiVA

fulltext(6445 kB)1983 downloads
File information
File name FULLTEXT01.pdfFile size 6445 kBChecksum MD5
d5b3e8453911b9f56c18ceef7c487bd97903206ec9585f65c705123fa98873114b7df675
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Buschka, Pär
By organisation
Department of Technology
Computer Science

Search outside of DiVA

GoogleGoogle Scholar
Total: 1983 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 893 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf