Suyeon Kim is a Researcher in Management Information Systems at the Pohang University of Science and Technology, Korea ([email protected]). Euiho Suh is a Professor and the Director of the Management Information Systems Laboratory at the Pohang University of Science and Technology, Korea ([email protected]). Hyunseok Hwang is a doctoral candidate in Management Information Systems at the Poha...

The problem of generating maps with mobile robots has received considerable attention over the past years. However, most of the approaches assume that the environment is static during the data-acquisition phase. In this paper we consider the problem of creating maps with mobile robots in populated environments. Our approach uses a probabilistic method to track multiple people and to incorporate...

In this paper, we have studied strategies for controlling formations of mobile robots using methods from nonlinear control theory and graph theory. We have focused on decomposing the problem of controlling a formation of nonholonomic mobile robots into: 1) controlling a single lead robot and 2) controlling other follower robots in the team. We used the terms l 0 and l 0 l control to reflect whe...

This paper introduces HIMM (histogramic in-motion mapping), a new method for real-time map building with a mobile robot in motion. HIMM represents data in a two-dimensional array (called a histogram gjid) that is updated through rapid continuous sampling of the onboard range sensors during motion. Rapid in-motion sampling results in a statistical map representation that is well-suited to modeli...

In this paper the question of “how much the a priori knowledge of floor plans will assist navigation in challenging indoor environments?” will be investigated. Additionally, the effect of different levels of accuracy of floor plans on the overall estimation process will be studied. In particular, the effect of wrong a priori knowledge of maps and floor plans on navigation accuracy will also be ...

This paper presents a programmable logic-based agent control system that interleaves planning, plan execution and perception. In this system, a program is a collection of logical formulae describing the agent’s relationship to its environment. Two such programs for a mobile robot are described — one for navigation and one for map building — that share much of their code.

Mapping environments is a fundamental task for a rescue robot. In this paper we present techniques that we have developed for mapping rescue environments within the SPQR-Rescue team participating in the RoboCup 2004 Real Rescue competition. After an analysis of existing techniques for simultaneous localization and mapping (SLAM) we have devised a method suitable for planar environment (i.e. yel...

Large scale maps are available for many countries. The building ground plans of those maps can be helpful for the reconstruction of 3D building models from laser data and aerial images. This paper presents two studies on 3D building reconstruction. The first study combines data of a laser scanner with a high point density with the ground plans. The reconstruction approach is data driven. The se...

This paper describes how an animat endowed with the MonaLysa control architecture can build a cognitive map that merges into a hierarchical framework not only topological links between landmarks but also higher level structures control information and metric distances and orientations The paper also describes how the animat can use such a map to locate itself even if it is endowed with noisy de...