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Topologically-directed navigation

David Rawlinson, Ray Jarvis
2007 Robotica (Cambridge. Print)  
But, for many tasks, it is more useful to immediately navigate to goals in unexplored environments, without a map.  ...  Recent advances in simultaneous localization and mapping permit robots to autonomously explore enclosed environments and, subsequently, navigate to selected positions within them.  ...  Are topological directions a map? So far, we have established that there exists a navigationally useful common language that can be shared by humans and robots.  ... 
doi:10.1017/s026357470700375x fatcat:6lfxfk6mgvcilguikrf2lnidwi

A low-level framework for a probabilistic treatment of the topological description of a robot mission

F. Ferreira, V. Santos, J. Dias
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This article describes a mathematical basis required to integrate features obtained for perception for topological navigation.  ...  It is intended for application to navigation in an environment that is not mapped, but in which a mission is described in the form of a semantic description of the perception stimulus that the robot is  ...  Kaelbling [4] explains the need for and the means to model navigation using a topological mapping as a Partially Observable Markov process, with a special emphasis on the motion.  ... 
doi:10.1109/iros.2005.1545362 dblp:conf/iros/FerreiraSD05 fatcat:bmug2wtpgrem5jd4v2sagmqjm4

Ways to Tell Robots Where to Go - Directing Autonomous Robots Using Topological Instructions

D. Rawlinson, R. Jarvis
2008 IEEE robotics & automation magazine  
The navigationally relevant meet points of the GVD skeleton are called junctions and are used as landmarks for topological instructions. Few meet points are useful.  ...  It uses the GVD-derived topology of spatial affordances to describe the places at which navigational decisions must be made (junctions).  ... 
doi:10.1109/mra.2008.921538 fatcat:ghzyw3zt6rbwzkxjskgwizecze

Bio-inspired Model of Robot Adaptive Learning and Mapping

Alejandra Ramirez, Alfredo Ridel
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The model allows the robot to learn reward locations dynamically moved in different environments, to build a topological map, and to return home autonomously.  ...  In this paper we present a model designed on the basis of the neurophysiology of the rat hippocampus to control the navigation of a real robot.  ...  [5] uses features to build a topological map with metric information associated with the edges. Ref. [1] presents a metric map structure that combines feature maps with occupancy grids.  ... 
doi:10.1109/iros.2006.282344 dblp:conf/iros/RamirezR06 fatcat:g433j2kaifdavksjasdncu3dsa

Map-based navigation in mobile robots:

Jean-Arcady Meyer, David Filliat
2003 Cognitive Systems Research  
within the context of mapbased navigation in mobile robots.  ...  It insists on the need for an integrated conception of such procedures, that must be tightly tailored to the specific robot that is used -notably to the capacities and limitations of its sensory-motor  ...  more elaborate navigation strategies afford planning capacities to the animal or the robot.  ... 
doi:10.1016/s1389-0417(03)00007-x fatcat:dxps33a5wnhbxp76esbhhvsoei

Conceptual spatial representations for indoor mobile robots

H. Zender, O. Martínez Mozos, P. Jensfelt, G.-J.M. Kruijff, W. Burgard
2008 Robotics and Autonomous Systems  
We present an approach for creating conceptual representations of human-made indoor environments using mobile robots.  ...  The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue.  ...  They are associated with the navigation node that is closest to their estimated metric position. Topological Map The topological map divides the set of nodes in the navigation graph into areas.  ... 
doi:10.1016/j.robot.2008.03.007 fatcat:mepud53dhndzpkgcftvyhvyhlu

Bio-inspired Model of Robot Spatial Cognition: Topological Place Recognition and Target Learning

Alejandra Barrera, Alfredo Weitzenfeld
2007 2007 International Symposium on Computational Intelligence in Robotics and Automation  
We describe place representation and recognition processes in rats as the basis for topological map building and exploitation by robots.  ...  In this paper we present a model designed on the basis of the rat's brain neurophysiology to provide a robot with spatial cognition and goal-oriented navigation capabilities.  ...  The topological map is implemented by WGL.  ... 
doi:10.1109/cira.2007.382839 dblp:conf/cira/BarreraW07 fatcat:xezdk3kktjhpvpyicjyrpu46lq

Map-based navigation in mobile robots:

David Filliat, Jean-Arcady Meyer
2003 Cognitive Systems Research  
For a robot, an animal, and even for man, to be able to use an internal representation of the spatial layout of its environment to position itself is a very complex task, which raises numerous issues of  ...  The allothetic and idiothetic sensors that may be used by these robots to build internal representations of their environment, and the maps in which these representations may be instantiated, are first  ...  for robot navigation.  ... 
doi:10.1016/s1389-0417(03)00008-1 fatcat:cmzmckoh45flhhw5vd3ogx777a

Robot Topological Mapping and Goal-Oriented Navigation Based on Rat Spatial Cognition [chapter]

Alejandra Barrera
2010 Mobile Robots Navigation  
Mobile Robots Navigation 536 navigation.  ...  of kinesthetic and visual cues during orientation, (iv) generation of topological-metric spatial representation of the unknown environment, (v) pattern association using Hebbian learning, (vi) representation  ...  The affordances processing module represents PPC cell discrimination among different possible orientations for navigation by use of an affordances perceptual schema (APS) encoding possible egocentric (  ... 
doi:10.5772/9000 fatcat:oge5dlsgwjcwloof42xq5ialjy

LOLA Probabilistic Navigation for Topological Maps

Ricardo Gutierrez-Osuna, Ren C. Luo
1996 The AI Magazine  
for topological maps.  ...  Topolog- ical Mapping for Mobile Robots Using a Combina- tion of Sonar and Vision Sensing. In Proceedings of 62 AI MAGAZINE  ... 
doi:10.1609/aimag.v17i1.1211 dblp:journals/aim/Gutierrez-OsunaL96 fatcat:his7tkfuybhydfiysqu75ujicu

STAM: A Framework for Spatio-Temporal Affordance Maps [article]

Francesco Riccio, Roberto Capobianco, Marc Hanheide, Daniele Nardi
2016 arXiv   pre-print
Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection.  ...  To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM).  ...  Hence, different representations, such as topological maps, cannot be used. Similarly to our work, Diego et al. [2] encode activities in an affordance map in order to leverage robot movements.  ... 
arXiv:1607.00354v1 fatcat:sdxzawcocrd6zbd2xelb7enuhy

STAM: A Framework for Spatio-Temporal Affordance Maps [chapter]

Francesco Riccio, Roberto Capobianco, Marc Hanheide, Daniele Nardi
2016 Lecture Notes in Computer Science  
Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection.  ...  To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM).  ...  Hence, different representations, such as topological maps, cannot be used. Similarly to our work, Diego et al. [2] encode activities in an affordance map in order to leverage robot movements.  ... 
doi:10.1007/978-3-319-47605-6_22 fatcat:76k4k7y2ebbz3aifp34r6aehzq

Landmark-Tree map: A biologically inspired topological map for long-distance robot navigation

Marcus Augustine, Frank Ortmeier, Elmar Mair, Darius Burschka, Annett Stelzer, Michael Suppa
2012 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation.  ...  Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well.  ...  It combines the power of tree data structures as used for metric maps, and the information clustering of topological maps.  ... 
doi:10.1109/robio.2012.6490955 dblp:conf/robio/AugustineOMBSS12 fatcat:myso6gxq6fecfns6gs4fp4qila

Robot Mapping and Navigation by Fusing Sensory Information [chapter]

Maki K.
2007 Mobile Robots: Perception & Navigation  
A topological map is a feature-based map that uses symbolic description. Such maps can be used to reduce the SLAM problem to a graph-matching problem at the topological scale.  ...  currently stated target; on the contrary, local metric maps can be used by the robot for safe navigation toward a given target, and the robot needs further localization precision.  ...  aspects of a single robot and even for a group of robots.  ... 
doi:10.5772/4790 fatcat:itabqk6e2neqjlz3cr5ijzco3e

Real Time Mapping and Dynamic Navigation for Mobile Robots

Maki K. Habib
2007 International Journal of Advanced Robotic Systems  
The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map  ...  In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot.  ...  A topological map is a feature-based map that uses symbolic description. Such maps can be used to reduce the SLAM problem to a graph-matching problem at the topological scale.  ... 
doi:10.5772/5681 fatcat:3fgctkhvpvaezhym5nlmy5yb2u
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