Topologically-directed navigation

  title={Topologically-directed navigation},
  author={David Rawlinson and Ray A. Jarvis},
Recent advances in simultaneous localization and mapping permit robots to autonomously explore enclosed environments and, subsequently, navigate to selected positions within them. But, for many tasks, it is more useful to immediately navigate to goals in unexplored environments, without a map. This is possible if a human director can describe the ideal route to the robot using grounded symbols that both parties can perceive directly. In this paper, a mobile robot is autonomously navigated to… CONTINUE READING
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