Map Validation and Self-location in a Graph-like World

  title={Map Validation and Self-location in a Graph-like World},
  author={Gregory Dudek and Michael R. M. Jenkin and Evangelos E. Milios and David Wilkes},
We present algorithms for the discovery and use of topological maps of an environment by an active agent (such as a person or a mobile robot). We discuss several issues dealing with the use of pre-existing topological maps of graph-like worlds by an autonomous robot and present algorithms, worst cases complexity, and experimental results (for representative real-world examples) for two key problems. The rst of these problems is to verify that a given input map is a correct description of the… CONTINUE READING
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