Abstract— Linking semantic and spatial information has become an important research area in robotics since, for robots interacting with humans and performing tasks in natural env...
This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic...
Our research addresses how to integrate exploration and localization for mobile robots. A robot exploring and mapping an unknown environment needs to know its own location, but it...
In this paper we present a dynamic data structure, useful for robot navigation in an unknown, simplyconnected planar environment. The guiding philosophy in this work is to avoid t...
A mapmaking robot integrates accumulated sensor data into a data structure that can be used for future localization or planning operations. Localization is the process of determin...