Hierarchical map building and planning based on graph partitioning

Abstract

Mobile robot localization and navigation requires a map - the robot's internal representation of the environment. A common problem is that path planning becomes very inefficient for large maps. In this paper we address the problem of segmenting a base-level map in order to construct a higher-level representation of the space which can be used for more… (More)
DOI: 10.1109/ROBOT.2006.1641808

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