A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations

@article{Kuipers1991ARE,
  title={A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations},
  author={Benjamin Kuipers and Yung-Tai Byun},
  journal={Robotics and Autonomous Systems},
  year={1991},
  volume={8},
  pages={47-63}
}
We have developed a robust qualitative method for robot expl oration, mapping, and navigation in large-scale spatial environments. An environment is large-scaleif its spatial structure is at a significantly larger scale than the sensory horizon of the observer. Experiments with a simulated robot in a variety of 2-D enviro nments have demonstrated that our method can build an accurate map of an unknown environment in spite o f substantial random and systematic sensorimotor error. Most current… CONTINUE READING
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