Coastal Navigation -- Mobile Robot Navigation with Uncertainty in Dynamic Environments

Nicholas Roy, Wolfram Burgard, Dieter Fox, and Sebastian Thrun
Proc. IEEE Conf. Robotics and Automation (ICRA), May, 1999.


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Abstract
Ships often use the coasts of continents for navigation in the absence of better tools such as GPS, since being close to land allows sailors to determine with high accuracy where they are. Similarly for mobile robots, in many environments global and accurate localization is not always feasible.

Environments can lack features, and dynamic obstacles such as people can confuse and block sensors. In this paper, we demonstrate a technique for generating trajectories that take into account both the information content of the environment, and the density of the people in the environment. These trajectories reduce the average positional certainty as the robot moves, reducing the likelihood the robot will become lost at any point. Our method was successfully implemented and used by the mobile robot Minerva, a museum tourguide robot, for a 2 week period in the Smithsonian National Museum of American History.


Keywords
mobile, robot, navigation, uncertainty, museum, minerva

Notes
Number of pages: 6

Text Reference
Nicholas Roy, Wolfram Burgard, Dieter Fox, and Sebastian Thrun, "Coastal Navigation -- Mobile Robot Navigation with Uncertainty in Dynamic Environments," Proc. IEEE Conf. Robotics and Automation (ICRA), May, 1999.

BibTeX Reference
@inproceedings{Roy_1999_550,
   author = "Nicholas Roy and Wolfram Burgard and Dieter Fox and Sebastian Thrun",
   title = "Coastal Navigation -- Mobile Robot Navigation with Uncertainty in Dynamic Environments",
   booktitle = "Proc. IEEE Conf. Robotics and Automation (ICRA)",
   month = "May",
   year = "1999",
}