---
title: "Memory-Based Navigation"
authors:
  - "Bruno Crespi"
  - "Cesare Furlanello"
  - "Luigi Stringa"
doi: ""
url: "https://ijcai.org/proceedings/1993/229"
pdf: "https://ijcai.org/proceedings/1993/0229.pdf"
venue: "Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence"
year: 1993
pages: "1654-1659"
track: "Robotics and Vision"
keywords:
---

# Memory-Based Navigation

Bruno Crespi, Cesare Furlanello, Luigi Stringa

*Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence*, pages 1654-1659.

## 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 .