Eduardo J. Pérez

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Recent research in mobile robot navigation is focused on integrating the metric and topological paradigms to unsupervisedly construct representations of indoor environments. While metric methods produce accurate environment representations, these representations present a huge data volume and they are consequently difficult to process in real time. On the(More)
— This paper proposes a method to solve the Simultaneous Localization and Map Building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for(More)
This paper presents a new sonar based purely reactive navigation technique for mobile platforms. The method relies on Case-Based Reasoning to adapt itself to any robot and environment through learning, both by observation and self experience. Thus, unlike in other reactive techniques, kinematics or dynamics do not need to be explicitly taken into account.(More)
—This paper presents an exploration algorithm for partially or totally unknown environments. The method is based on a representation that integrates metric and topological paradigms. The metric paradigm produces an accurate representation of the environment. The topological map is built over the metric map by means of a hierarchical structure. It reduces(More)
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