Exploration of Unknown Environments by an Autonomous Mobile Robot

4/13/99


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Table of Contents

Exploration of Unknown Environments by an Autonomous Mobile Robot

The Problem

Things to consider (1)

Things to consider (2)

Scope

Talk outlines

Environments (1)

Environments (2)

Map Purposes

Sensors

Talk outlines

Traditional Approaches

Map Structures

Explicit Free Space

Explicit Free Space

Terrain Maps

Explicit Objects in 2D

Explicit Objects in 3D

Topological Maps: Overview

Topological Maps

Voronoi Graphs

From Grids To Topology

Hybrid Maps

Panoramic Views

Cognitive Maps

Talk outlines

Conclusion

Future Tendencies

The END

 Author: Atanas Gueorguiev

Home Page: http://www.cs.columbia.edu/~atanas