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Augmenting topology...
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Fabrizi, ElisabettaLa Sapienza - Roma
(author)
Augmenting topology-based maps with geometric information
- Article/chapterEnglish2002
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LIBRIS-ID:oai:DiVA.org:oru-3700
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https://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-3700URI
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https://doi.org/10.1016/S0921-8890(02)00234-8DOI
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Language:English
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Summary in:English
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Subject category:ref swepub-contenttype
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Subject category:art swepub-publicationtype
Notes
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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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Saffiotti, AlessandroÖrebro universitet,Institutionen för teknik,AASS, Mobile Robotics Lab(Swepub:oru)asaffio
(author)
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La Sapienza - RomaInstitutionen för teknik
(creator_code:org_t)
Related titles
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In:Robotics and Autonomous Systems40:2, s. 91-970921-88901872-793X
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