{"type":"ScholarlyArticle","title":"Map Validation and Self-location in a Graph-like World","authors":[{"name":"Gregory Dudek","slug":"gregory-dudek","given":"Gregory","family":"Dudek","affiliation":""},{"name":"Michael R. M. Jenkin","slug":"michael-r-m-jenkin","given":"Michael R. M.","family":"Jenkin","affiliation":""},{"name":"Evangelos E. Milios","slug":"evangelos-e-milios","given":"Evangelos E.","family":"Milios","affiliation":""},{"name":"David Wilkes","slug":"david-wilkes","given":"David","family":"Wilkes","affiliation":""}],"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).","doi":null,"url":"https://ijcai.org/proceedings/1993/228","pdf":"https://ijcai.org/proceedings/1993/0228.pdf","markdown":"https://ijcai.org/proceedings/1993/228.md","bibtex":"https://ijcai.org/proceedings/1993/bibtex/228","volume":{"slug":"1993","title":"Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1993","url":"https://ijcai.org/proceedings/1993/","year":1993,"location":"Chambéry, France","dates":"","editors":"Ruzena Bajcsy","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics and Vision","track":"Robotics and Vision","number":228,"pages":{"first":1648,"last":1652},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}