Geometric constraint identification and mapping for mobile robots.

Authors :: Austin, David J.
McCarragher, Brenan J.
Source :: Robotics & Autonomous Systems. 05/31/2001, Vol. 35 Issue 2, p59. 18p. 2 Black and White Photographs, 7 Diagrams, 2 Charts, 10 Graphs.
Publication Year :: 2001
Abstract: Presents a method of map building for mobile robots, which uses geometric models of the constraints from the environment. Advantages of geometric maps over grid-based maps; Process of constraint identification; Use of geometric objects for constraint modelling; Operations which integrate new sensor readings into existing models; Simulation results.