Directed Graphs and Motion Description Languages for Robot Navigation and Control

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dc.contributor.authorHristu-Varsakelis, Dimitriosen_US
dc.contributor.authorAndersson, Sean B.en_US
dc.contributor.departmentISRen_US
dc.contributor.departmentCDCSSen_US
dc.date.accessioned2007-05-23T10:11:43Z
dc.date.available2007-05-23T10:11:43Z
dc.date.issued2001en_US
dc.description.abstractWe propose a landmark-based representation of maps to be used for robotnavigation and exploration. Our approach is aimed towards mobilerobots that operate over expansive, imprecisely known terrain without asingle ``global'' map. Instead, a map is pieced together fromlocal terrain and navigation data stored in a directed graph. Each of thegraph's vertices contains information describing a landmark locally (e.g. adetailed map of that landmark's immediate surroundings). Thegeometric relationships between landmarks are unknown. Graph edgesstore language-based directions that enable a robot to steerbetween landmarks. These directions are written in the motiondescription language MDLe, reducing the complexity of the map and makingnavigation programs robot-independent. Furthermore, the proposedarchitecture iseconomical with respect to the amount of storage required to describefar-flung areas of interest. We present preliminary resultsdemonstrating our ideas using an indoor robot.<P><center><I>This paper appeared in the 2002 IEEE Int'l Conference on Robotics andAutomation</I><center>en_US
dc.format.extent194962 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/6253
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 2001-42en_US
dc.relation.ispartofseriesCDCSS; TR 2001-10en_US
dc.subjectSensor-Actuator Networksen_US
dc.titleDirected Graphs and Motion Description Languages for Robot Navigation and Controlen_US
dc.typeTechnical Reporten_US

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