Topological Mapping with Sensing-Limited Robots

Wesley H. Huang and Kristopher R. Beevers
The Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2004)
Pages 367--382.
[pdf]

Abstract

Despite the long history of mobile robot mapping and exploration, fundamental questions remain; for example, what sensing capabilities are required for mapping and navigating in an unknown environment? This paper studies mapping and exploration using robots with limited sensing capabilities, most notably in their sensor range. Our prototype robots use only five infrared range sensors with a maximum range of 80 cm; in general, these robots cannot “see” both sides of a hallway. We present an algorithm for such a robot to construct a topological map in the presence of sensing and odometry error. In doing so, we develop a paradigm to extend topological mapping to open spaces, long considered a deficiency of topological mapping; we also introduce an evidential approach to the problem of “closing the loop.”

BibTeX entry

@InProceedings{Huang04b,
  author = 	 {Wesley H. Huang and Kristopher R. Beevers},
  title = 	 {Topological Mapping with Sensing-Limited Robots},
  booktitle =	 {Workshop on the Algorithmic Foundations of Robotics (WAFR)},
  year =	 2004,
  note =         {367--382}
}