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Robot map-making in an unknown scene: a general theory and a new algorithm

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The robot map-making of a scene containing unknown objects of arbitrary shapes is considered. A specific formulation of the terrain acquisition problem due to Lumelsky et al. is investigated. The aim is to develop efficient new algorithms and to understand the basics of the problem. A new, generalized algorithm-GenTer-is developed. GenTer produces a family of algorithms through the variation of a scalar parameter . A version, Terl, of the generalized algorithm may offer a better performance, on the average, than the existing algorithm, the Sightseer Strategy. Terl offers a new feature called hierarchical map-making, through which a good appropriate map can be efficiently created.

Document Type: Research Article


Affiliations: SECOM Intelligent Systems Laboratory, 7th Tachihi Building, 1-1, Sakaemachi 6-Chome, Tachikawa-Shi, Tokyo 190, Japan

Publication date: 1992-01-01

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