Book ChapterDOI
A mobile robot: Sensing, planning and locomotion
David J. Kriegman,E. Triendl,T.O. Binford +2 more
- Vol. 4, pp 402-408
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TLDR
The architecture of a Stanford's autonomous mobile robot is described including its distributed computing system, locomotion, and sensing, and some of the issues in the representation of a world model are explored.Abstract:
A mobile robot architecture must include sensing, planning, and locomotion which are tied together by a model or map of the world based on sensor information, apriori knowledge and generic models. The architecture of a Stanford's autonomous mobile robot is described including its distributed computing system, locomotion, and sensing. Additionally, some of the issues in the representation of a world model are explored. Sensor models are used to update the world model in a uniform manner, and uncertainty reduction is discussed.read more
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Journal ArticleDOI
Using occupancy grids for mobile robot perception and navigation
TL;DR: An approach to robot perception and world modeling that uses a probabilistic tesselated representation of spatial information called the occupancy grid, a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice is reviewed.
Journal ArticleDOI
Multisensor integration and fusion in intelligent systems
Ren C. Luo,Michael G. Kay +1 more
TL;DR: The issues involved in integrating multiple sensors into the operation of a system are presented in the context of the type of information these sensors can uniquely provide, along with proposed high-level multisensory representations suitable for mobile robot navigation and control.
Book
Directed Sonar Sensing for Mobile Robot Navigation
TL;DR: This paper presents a Sonar Sensor Model for Directed Sensing Strategies, which combines model-Based Localization, Simultaneous Map Building, and Simultaneously Map Building and Localization.
Book ChapterDOI
Maintaining representations of the environment of a mobile robot
Nicholas Ayache,Olivier Faugeras +1 more
TL;DR: In this article, the authors present a tool called Extended Kalman Filter (EKF) for the problem of building and updating 3D representations of the environment of a mobile robot using passive vision as its main sensory modality.
Journal ArticleDOI
Incorporating range sensing in the robot navigation function
Vladimir J. Lumelsky,T. Skewis +1 more
TL;DR: It turns out that extensive modifications of simpler tactile algorithms are needed to take full advantage of additional sensing capabilities, and two algorithms that guarantee convergence and exhibit different styles of behavior are described, and their performance is demonstrated in simulated examples.
References
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Proceedings ArticleDOI
High resolution maps from wide angle sonar
Hans P. Moravec,Alberto Elfes +1 more
TL;DR: The use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot deals effectively with clutter, and can be used for motion planning and for extended landmark recognition.
Proceedings ArticleDOI
Position referencing and consistent world modeling for mobile robots
Raja Chatila,Jean-Paul Laumond +1 more
TL;DR: The approach proposed in this paper relies on the use of a multisensory system, favo ring of the data collected by the more accurate sensor in a given situation, averaging of different but consistent measurements of the same entity weighted with their associated uncertainties.
Book ChapterDOI
Estimating uncertain spatial relationships in Robotics
TL;DR: In this article, a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained are described.
Proceedings ArticleDOI
Visual map making for a mobile robot
TL;DR: The key idea is to use a relational map, which is rubbery and stretchy, rather than try to place observations in a 2-d coordinate system.