Related papers: Incrementally Building Topology Graphs via Distanc…
Mapping is an important part of many robotic applications. In order to measure the performance of the mapping process we have to measure the quality of its result: the map. The map is essential for robotic algorithms like localization and…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
Communication networks form the backbone of our society. Topology control algorithms optimize the topology of such communication networks. Due to the importance of communication networks, a topology control algorithm should guarantee…
Currently, state-of-the-art exploration methods maintain high-resolution map representations in order to optimize exploration goals in each step that maximizes information gain. However, during exploring, those "optimal" selections could…
The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor…
In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. Topological map is commonly used for representing large…
We present an algorithm to grow a graph with scale-free structure of {\it in-} and {\it out-links} and variable wiring diagram in the class of the world-wide Web. We then explore the graph by intentional random walks using local…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
We present a method for computing the topological entropy of one-dimensional maps. As an approximation scheme, the algorithm converges rapidly and provides both upper and lower bounds.
Representing a scanned map of the real environment as a topological structure is an important research in robotics. %is currently an important research. Since topological representations of maps save a huge amount of map storage space and…