The scientific status of mobile robotics: Multi-resolution mapbuilding as a case study

Oliver Lemon, Ulrich Nehmzow
1998 Robotics and Autonomous Systems  
We present a novel approach to mapbuilding and target area identification in mobile robotics -its emphasis being on the efficiency of multiple resolution representations for mapping and goal-area identification (for example, for the purpose of mobile robot self-localisation). After presenting and analysing the experimental results, we examine the scientific status of the research carried out, and of the field of mobile robotics in general. We argue that there is an implicit theory of mobile
more » ... tics, but that -for the future health of the discipline -it needs to be extended and made explicit through the development of an appropriate theoretical language and formal models. After exploring the relationship between design, engineering, and science, we argue that mobile robotics still lacks falsifiable theories of robot-environment interaction. This leads us to propose some desirable future directions for the discipline of mobile robotics as a maturing science. neural networks of four nodes. Thus, as well as allowing efficient navigation, the robot's development of its map also uses few computational resources. 0921-8890/98/$ -see frontmatter © 1998 Elsevier Science B.V. All rights reserved PII: S 0 9 2 1 -8 8 9 0 ( 9 8 ) 0 0 0 1 8 -9
doi:10.1016/s0921-8890(98)00018-9 fatcat:vt44by4eazh67c66ocnh3xl6ci