{"type":"ScholarlyArticle","title":"Memory-Based Navigation","authors":[{"name":"Bruno Crespi","slug":"bruno-crespi","given":"Bruno","family":"Crespi","affiliation":""},{"name":"Cesare Furlanello","slug":"cesare-furlanello","given":"Cesare","family":"Furlanello","affiliation":""},{"name":"Luigi Stringa","slug":"luigi-stringa","given":"Luigi","family":"Stringa","affiliation":""}],"abstract":"A memory-based system for mobile rob ot navigation is prese nted. Th e system is implemellt ed as a foll ow-midline module on a small robot moving autonomously a long the corridors of our Institute . The robot lea rns to es timate its position by comparing the visual input with imag es contained in its memory. Th e system memory is formed during a lea rning phase by en co ding a set of lab eled images. Encoding is base d on the e xtr act ion of loca l directio nal fi e ld s. During lea rning , th e robot explor es limited areas of the e nvironm ent . During performance th e robot moves along the corridors. Th e system shows a good g neralization capability. Th e robo ~ is able to navigate not only where lea rning was done , but also in unknown corridors with different illumination conditions. Key as p ec ts of this appr•. •ac h are a fl exible represe ntation of information and ind ependence fr om an expli c it use of geometrical re pr esentations .","doi":null,"url":"https://ijcai.org/proceedings/1993/229","pdf":"https://ijcai.org/proceedings/1993/0229.pdf","markdown":"https://ijcai.org/proceedings/1993/229.md","bibtex":"https://ijcai.org/proceedings/1993/bibtex/229","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":229,"pages":{"first":1654,"last":1659},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}