Augmenting topology-based maps with geometric information

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.

NATURVETENSKAP Data- och informationsvetenskap Systemvetenskap, informationssystem och informatik hsv//swe
NATURAL SCIENCES Computer and Information Sciences Information Systems hsv//eng
Enviroment modelling
topological maps
occupancy grid
mathematical morphology
Computer and systems science
Data- och systemvetenskap
SOCIAL SCIENCES
SAMHÄLLSVETENSKAP
Datalogi
Computer and Systems Science

Saffiotti, AlessandroÖrebro universitet,Institutionen för teknik,AASS, Mobile Robotics Lab(Swepub:oru)asaffio (författare)
La Sapienza - RomaInstitutionen för teknik (creator_code:org_t)

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NATURVETENSKAP: NATURVETENSKAP; och Data och informa ...; och Systemvetenskap ...

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