Spatial mapping and map exploitation: a bio-inspired engineering perspective

Authors:
Michael Milford;Gordon Wyeth
Affiliations:
Queensland Brain Institute, The University of Queensland, Brisbane, Australia;School of Information Technology and Electrical Engineering, The University of Queensland, Brisbane, Australia
Venue:
COSIT'07 Proceedings of the 8th international conference on Spatial information theory
Year:
2007

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Abstract

Probabilistic robot mapping techniques can produce high resolution, accurate maps of large indoor and outdoor environments. However, much less progress has been made towards robots using these maps to perform useful functions such as efficient navigation. This paper describes a pragmatic approach to mapping system development that considers not only the map but also the navigation functionality that the map must provide. We pursue this approach within a bio-inspired mapping context, and use results from robot experiments in indoor and outdoor environments to demonstrate its validity. The research attempts to stimulate new research directions in the field of robot mapping with a proposal for a new approach that has the potential to lead to more complete mapping and navigation systems.