This article introduces the new problem of planning spatially distributed lanes for supporting multi-agent navigation applications in 3D environments. Our proposed approach computes max-flow a medial axis representation environment order to globally compute collision-free exploring entire free space volumetric scene. method addresses agent clearance and path dispersion provide comprehensive sol...

Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fastaccumulating heading drift error affecting such a low-cost IMU senso...

A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described. The system uses sonar range data to build a multileveled description of the robot’s surroundings. Sonar readings are interpreted using probability profiles to determine empty and occupied areas. Range measurements from multiple points of view are ...

This paper addresses a practical problem arising in the calibration of bottom-lock doppler sonar for the navigation of underwater robot vehicles. Employing a least-squares method, the rotational alignment offset between a bottom-lock doppler sonar and a north-seeking gyroscope can be experimentally determinined using sensors commonly deployed with a vehicle in the field. It requires sensor valu...

Despite extensive research on the role of the rodent medial and lateral entorhinal cortex (MEC/LEC) in spatial navigation, memory and related disease, their human homologues remain elusive. Here, we combine high-field functional magnetic resonance imaging at 7 T with novel data-driven and model-based analyses to identify corresponding subregions in humans based on the well-known global connecti...

this paper presents an enhancement of the medial axis algorithm to be used for finding the optimal shortest path for developed cognitive map. The cognitive map has been developed, based on the architectural blueprint maps. The idea for using the medial-axis is to find main path central pixels; each center pixel represents the center distance between two side boarder pixels. The need for these p...

Visual odometry estimates a robot’s ego-motion with cameras installed on itself. With the advantages brought by camera being a sensor, visual odometry has been widely adopted in robotics and navigation fields. Drift (or error accumulation) from relative motion concatenation is an intrinsic problem of visual odometry in long-range navigation, as visual odometry is a sensor based on relative meas...

We present our findings to yield a more intuitive user interaction for navigating 3D worlds. GyroTouch was created to augment multi-touch gestures with other devices. In this paper, a multi-touch display is complemented by a gyroscope to enhance 3D navigation. Our approach uses multiple to sensor to address 3D rotations and 3D Translation used in Navigation. This work also includes a two sample...

Virtual characters in games and simulations often need to plan visually convincing paths through a crowded environment. This paper describes how crowd density information can be used to guide a large number of characters through a crowded environment. Crowd density information helps characters avoid congested routes that could lead to traffic jams. It also encourages characters to use a wide va...