The DOI matches its Crossref record; 24 of the 24 references it cites were found in a registry or an index.
Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
Abstract
This paper presents a new method for simultaneous localization and mapping that exploits the topology of the robot's free space to localize the robot on a partially constructed map. The topology of the environment is encoded in a topological map; the particular topological map used in this paper is the generalized Voronoi graph (GVG), which also encodes some metric information about the robot's environment, as well. In this paper, we present the low-level control laws that generate the GVG edges and nodes, thereby allowing for exploration of an unknown space. With these prescribed control laws, the GVG can be viewed as an arbitrator for a hybrid control system that determines when to invoke a particular low-level controller from a set of controllers all working toward the high-level capability of mobile robot exploration. The main contribution, however, is using the graph structure of the GVG, via a graph matching process, to localize the robot. Experimental results verify the described work.
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Citations
Cites
A robust layered control system for a mobile robot
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“One class of heuristic algorithms employs a behavior-based approach in which the robot is armed with a simple set of behaviors (e.g., following a wall) [4].”
BackgroundLatombe, J.-C. (1991) · Springer eBooks · doi:10.1007/978-1-4615-4022-9 · Cited by 6,396
Voronoi diagrams—a survey of a fundamental geometric data structure
Aurenhammer, F. (1991) · ACM Computing Surveys · doi:10.1145/116873.116880 · Cited by 4,340
High resolution maps from wide angle sonar
Moravec, H., & Elfes, A. (2005) · Proceedings. 1985 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1985.1087316 · Cited by 1,772
Sonar-based real-world mapping and navigation
Elfes, A. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087096 · Cited by 1,397
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
Optimal and Efficient Path Planning for Partially Known Environments
Stentz, A. (1997) · Intelligent Unmanned Ground Vehicles · doi:10.1007/978-1-4615-6325-9_11 · Cited by 1,233
Simultaneous map building and localization for an autonomous mobile robot
Leonard, J. J., & Durrant-Whyte, H. F. (2002) · Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 · doi:10.1109/iros.1991.174711 · Cited by 805
A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Kuipers, B., & Byun, Y.-T. (1991) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(91)90014-c · Cited by 707
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Cited by
Coordinated multi-robot exploration
Burgard, W., Moors, M., Stachniss, C., & Schneider, F. E. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.839232 · Cited by 1,177
Simultaneous Localization, Mapping and Moving Object Tracking
Wang, C.-C., Thorpe, C., Thrun, S., Hebert, M., & Durrant-Whyte, H. (2007) · The International Journal of Robotics Research · doi:10.1177/0278364907081229 · Cited by 596
Multiple-Robot Simultaneous Localization and Mapping: A Review
Saeedi, S., Trentini, M., Seto, M., & Li, H. (2016) · Journal of Field Robotics · doi:10.1002/rob.21620 · Cited by 324
Deliberation for autonomous robots: A survey
Ingrand, F., & Ghallab, M. (2017) · Artificial Intelligence · doi:10.1016/j.artint.2014.11.003 · Cited by 309
Bosse, M., Newman, P., Leonard, J., & Teller, S. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904049393 · Cited by 305
Metadata
- Authors
- Choset, H., & Nagatani, K.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2001-04
- Volume
- 17
- Issue
- 2
- Pages
- 125-137
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2142362566
- Cited by
- 624
- References
- 24
- FWCI
- 66.14
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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