Map Validation and Self-location in a Graph-like World

Dudek, Gregory; Jenkin, Michael R. M.; Milios, Evangelos E.; Wilkes, David

Map Validation and Self-location in a Graph-like World

Gregory Dudek, Michael R. M. Jenkin, Evangelos E. Milios, David Wilkes

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Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence. Robotics and Vision. Pages 1648-1652.

Abstract

We present algorithms for the discovery and use of topological maps of an environment by an active agent (such as a person or a mobile robot). We discuss several issues dealing with the use of pre-existing topological maps of graph-like worlds by an autonomous robot and present algorithms, worst cases complexity, and experimental results (for representative real-world examples} for two key problems. The first of these problems is to verify that a given input map is a correct description of the world (the VALIDATION PROBLEM} . The second is to determine the robot's physical position on an input map (THE SELF-LOCATION PROBLEM)' We present algorithms which require O(N ) and O(N 3 ) steps to validate and locate the robot in a map (where N is the number of places in the map).

Gregory Dudek, Michael R. M. Jenkin, Evangelos E. Milios, and David Wilkes. 1993. Map Validation and Self-location in a Graph-like World. In Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence, IJCAI-93. IJCAI, 1648–1652. https://ijcai.org/proceedings/1993/228

@inproceedings{ijcai1993p228,
  title     = {Map Validation and Self-location in a Graph-like World},
  author    = {Dudek, Gregory and Jenkin, Michael R. M. and Milios, Evangelos E. and Wilkes, David},
  booktitle = {Proceedings of the Thirteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-93}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ruzena Bajcsy},
  pages     = {1648--1652},
  year      = {1993},
  note      = {Robotics and Vision},
  url       = {https://ijcai.org/proceedings/1993/228},
}

TY  - CPAPER
TI  - Map Validation and Self-location in a Graph-like World
AU  - Dudek, Gregory
AU  - Jenkin, Michael R. M.
AU  - Milios, Evangelos E.
AU  - Wilkes, David
T2  - Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence, IJCAI-93
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1993
SP  - 1648
EP  - 1652
UR  - https://ijcai.org/proceedings/1993/228
ER  -