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Using fuzzy sets to represent uncertain spatial knowledge in autonomous robots
Université Libre de Bruxelles. (IRIDIA)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
1999 (English)In: Spatial Cognition and Computation, ISSN 1387-5868, E-ISSN 1573-9252, Vol. 1, no 3, p. 205-226Article in journal (Refereed) Published
Abstract [en]

Autonomous mobile robots need the capability to reason from and about spatial knowledge. Due to limitations in the prior information and in the perceptual apparatus, this knowledge is inevitably affected by uncertainty. In this paper, we discuss some techniques employed in the field of autonomous robotics to represent and use uncertain spatial knowledge. We focus on techniques which use fuzzy sets to account for the different facets of uncertainty involved in spatial knowledge. These facets include the false measurements induced by bad observation conditions; the inherent noise in odometric position estimation; and the vagueness introduced by the use of linguistic descriptions. To make the discussion more concrete, we illustrate some of these techniques showing samples from our work on mobile robots.

Place, publisher, year, edition, pages
1999. Vol. 1, no 3, p. 205-226
Keywords [en]
environment modeling, fuzzy logic, linguistic descriptions, robot navigation, self localization, spatial maps, uncertainty management
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3765DOI: 10.1023/A:1010017000667OAI: oai:DiVA.org:oru-3765DiVA, id: diva2:138063
Available from: 2007-08-01 Created: 2007-08-01 Last updated: 2018-01-13Bibliographically approved

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Saffiotti, Alessandro

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