Hierarchical Voronoi Graphs - Spatial Representation and Reasoning for Mobile Robots
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منابع مشابه
Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
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We describe a multi-hypothesis mapping system for mobile robots that learns graph-based topological representations. Our approach exploits direction information and the assumption of planarity to prune the space of possible map hypotheses. Qualitative spatial reasoning is used to check satisfiability of individual hypotheses. We evaluate the effects of absolute and relative direction informatio...
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This Chapter is intended as a sequel to our Chapter 21 in the book on "Mobile Robots Motion Planning. New Challenges" by this Publisher. It is now commonly accepted that problems of planning and navigation are inseparable: "Most recent contribution to the field combine effective algorithms tested on significant problems, along with some formal guarantees of performance" (J.-C. Latombe in Forewo...
متن کاملA Hierarchical Concept Oriented Representation for Spatial Cognition in Mobile Robots
Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is compatible to humans. The work presented here is oriented in this direction. It suggests a hierarchical, concept oriented, probabil...
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تاریخ انتشار 2010