The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work.

Notes

Text Reference

Keiji Nagatani, Howie Choset, and Sebastian Thrun, "Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph," Proceedings of ICRA '99, May, 1998, pp. 342 - 348.

BibTeX Reference

@inproceedings{Choset_1998_1411,
   author = "Keiji Nagatani and Howie Choset and Sebastian Thrun",
   title = "Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph",
   booktitle = "Proceedings of ICRA '99",
   pages = "342 - 348",
   month = "May",
   year = "1998",
   volume = "1",
}

The Robotics Institute

Menu