Scaling Local Control to Large-Scale Topological Navigation

@article{Meng2020ScalingLC,
  title={Scaling Local Control to Large-Scale Topological Navigation},
  author={Xiangyun Meng and Nathan D. Ratliff and Yu Xiang and D. Fox},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020},
  pages={672-678}
}
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and ambiguity of real world images and mechanical constraints of real robots. We present an intuitive approach to show that by accurately measuring the capability of a local controller, large-scale visual topological navigation can be achieved while being… Expand
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