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  • Fabrizi, Elisabetta, et al. (author)
  • Augmenting topology-based maps with geometric information
  • 2002
  • In: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 40:2, s. 91-97
  • Journal article (peer-reviewed)abstract
    • Topology-based maps are a new representation of the workspace of a mobile robot, which capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. A topology-based map can represent the environment in terms of open spaces (rooms and corridors) connected by narrow passages (doors and junctions). In this paper, we show how to enrich a topology-based map with geometric information useful for the generation and execution of navigation plans. Both the topology-based map and its geometric information are automatically extracted from sensor data. We illustrate the use of topology-based maps for planned behavior-based navigation on a real robot.
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Type of publication
journal article (1)
Type of content
peer-reviewed (1)
Author/Editor
Saffiotti, Alessandr ... (1)
Fabrizi, Elisabetta (1)
University
Örebro University (1)
Language
English (1)
Research subject (UKÄ/SCB)
Natural sciences (1)
Year
2002 (1)

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