Graph-based mapping by mobile robots

Kenneth J. Basye

doi:10.1117/12.143833

4 May 1993 Graph-based mapping by mobile robots

Kenneth J. Basye

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143833
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

We have developed a system for robotic map construction based on representing the robot's environment as a finite automation. In this paper we first describe the automation model, then present an algorithm used to control exploration and construct a map. We describe the robotic systems used by the algorithm as procedures, and report on experiments performed using the system in simulation and in a real environment.

Citation Download Citation

Kenneth J. Basye "Graph-based mapping by mobile robots", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143833

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