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— Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM (simultaneous localisation and mapping) which does not require motion or odometry information but only a sequence of noisy measurements from visited places. We propose a particle filtering technique for topological SLAM which(More)
Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract—In this paper we present a(More)
Hex is a classic board game invented in the middle of the twentieth century by Piet Hein and rediscovered later by John Nash. The best Hex artificial players analyse the board positions by deducing complex virtual connections from elementary connections using the H-Search algorithm. In this paper, we extend the H-search with a new deduction rule. This new(More)
In this paper we introduce methods to build a SOM that can be used as an isometric map for mobile robots. That is, given a dataset of sensor readings collected at points uniformly distributed with respect to the ground, we wish to build a SOM whose neurons (prototype vectors in sensor space) correspond to points uniformly distributed on the ground. Manifold(More)