Journal ArticleDOI
Robot navigation in unknown terrains using learned visibility graphs. Part I: The disjoint convex obstacle case
B. Oommen,S. Sitharama Iyengar,Nageswara S. V. Rao,R. Kashyap +3 more
- Vol. 3, Iss: 6, pp 672-681
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TLDR
An algorithm is presented to navigate a robot in an unexplored terrain that is arbitrarily populated with disjoint convex polygonal obstacles in the plane and it is proven to yield a convergent solution to each path of traversal.Citations
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A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Benjamin Kuipers,Yung-Tai Byun +1 more
TL;DR: Kuipers et al. as discussed by the authors developed a robust qualitative method for robot exploration, mapping, and navigation in large-scale spatial environments, which can build an accurate map of a previously unkown environment in spite of substantial random and systematic sensorimotor error.
Journal ArticleDOI
Gross motion planning—a survey
Yong K. Hwang,Narendra Ahuja +1 more
TL;DR: This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.
Journal ArticleDOI
Adaptive evolutionary planner/navigator for mobile robots
TL;DR: An adaptive evolutionary planner/navigator that unifies off-line planning and online planning/navigation processes in the same evolutionary algorithm that enables good tradeoffs among near-optimality of paths, high planning efficiency, and effective handling of unknown obstacles.
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A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Benjamin Kuipers,Yung-Tai Byun +1 more
TL;DR: A robust qualitative method is developed that can build an accurate map of a previously unkown environment in spite of substantial random and systematic sensorimotor error and successful navigation is not critically dependent on the accuracy, or even the existence, of the geometrical description.
Journal ArticleDOI
Encoding Natural Movement as an Agent-Based System: An Investigation into Human Pedestrian Behaviour in the Built Environment
Alasdair Turner,Alan Penn +1 more
TL;DR: It is demonstrated that, with the aid of an exosomatic visual architecture, it is possible to develop behavioural models in which movement rules originating from Gibson's principle of affordance are utilised.
References
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Book
The Design and Analysis of Computer Algorithms
Alfred V. Aho,John E. Hopcroft +1 more
TL;DR: This text introduces the basic data structures and programming techniques often used in efficient algorithms, and covers use of lists, push-down stacks, queues, trees, and graphs.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
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Spatial Planning: A Configuration Space Approach
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Journal ArticleDOI
Navigation for an intelligent mobile robot
TL;DR: A learning technique is described in which the robot develops a global model and a network of places, which is useful for navigation in a finite, pre-learned domain such as a house, office, or factory.