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Abstract: . Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental... (Update)
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BibTeX entry: (Update)
K. Nagatani, H. Choset, and S. Thrun. Towards Exact Localization without Explicit Localization with the Generalized Voronoi Graph. In IEEE Int. Conf. on Robotics and Automation, Lueven, Belgium, May 1998. http://citeseer.ist.psu.edu/nagatani98towards.html More
@inproceedings{ nagatanitowards,
author = "K. Nagatani and H. Choset and S. Thrun",
title = "Towards Exact Localization without Explicit Localization with the Generalized {Voronoi} Graph",
pages = "342--348",
url = "citeseer.ist.psu.edu/nagatani98towards.html" }
Citations (may not include all citations):1364 A Robust Layered Control System for a Mobile Robot (context) - Brooks - 1986
290 The Complexity of Robot Motion Planning (context) - Canny - 1988
211 A Robot Exploration and Mapping Strategy Based on a Semantic.. - Kuipers, Byan - 1991
144 Globally consistent range scan alignment for environment map.. - Lu, Milios - 1997
128 Navigating Mobile Robots: Systems and Techniques (context) - Borenstein, Everett et al. - 1996
97 Robot pose estimation in unknown environments by matching 2d.. - Lu, Milios
77 Learning topological maps with weak local odometric informat.. - Shatkay, Kaelbling - 1997
47 Robot Navigation in Unknown Terrains: Introductory Survey of.. - Rao, Kareti et al. - 1993
28 Retraction (context) - 'O'D'unlaing, Yap - 1985
26 Lectures on Numerical Methods in Bifurcation Problems (context) - Keller - 1987
20 Part II: Incremental Construction of the Generalized Voronoi.. (context) - Choset, Burdick et al. - 1995
14 Sensor Based Planning: A Control Law for Generating the Gene.. - Choset, Konuksven et al. - 1997
12 Vergleich von algorithmen zur selbstlokalisierung eines mobi.. (context) - Gutmann - 1996
6 Real-time Onstacle Avoidance for Fast Mobile Robots in Clutt.. (context) - Borenstein, Koren - 1990
4 Sensor Based Planning: The Hierarhical Generalized Voronoi G.. (context) - Choset, Burdick - 1996
4 Sensor Based Planning: Using a Honing Strategy and Local Map.. - Choset, Nagatani et al. - 1997
2 Robotic exploration as graph construction (context) - Dudeck, Jenkin et al. - 1991
2 Probabilistic mobile robot localization and mapping (context) - Thrun, Fox et al. - 1998
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