Parallel ear decomposition search (EDS) and st-numbering in graphs
Theoretical Computer Science
The power of a pebble: exploring and mapping directed graphs
STOC '98 Proceedings of the thirtieth annual ACM symposium on Theory of computing
SODA '01 Proceedings of the twelfth annual ACM-SIAM symposium on Discrete algorithms
Bootstrap learning for place recognition
Eighteenth national conference on Artificial intelligence
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Exploring artificial intelligence in the new millennium
Universal Traversal Sequences with Backtracking
CCC '01 Proceedings of the 16th Annual Conference on Computational Complexity
Towards a general theory of topological maps
Artificial Intelligence
International Journal of Robotics Research
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
International Journal of Robotics Research
Randomized Algorithms for Minimum Distance Localization
International Journal of Robotics Research
Enhancing Exploration in Graph-like Worlds
CRV '08 Proceedings of the 2008 Canadian Conference on Computer and Robot Vision
Creating and utilizing symbolic representations of spatial knowledge using mobile robots
Creating and utilizing symbolic representations of spatial knowledge using mobile robots
Topological mapping with weak sensory data
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Bayesian inference in the space of topological maps
IEEE Transactions on Robotics
Landmark Selection for Vision-Based Navigation
IEEE Transactions on Robotics
Toward a Unified Bayesian Approach to Hybrid Metric--Topological SLAM
IEEE Transactions on Robotics
iSAM: Incremental Smoothing and Mapping
IEEE Transactions on Robotics
A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps
International Journal of Robotics Research
Topological map induction using neighbourhood information of places
Autonomous Robots
Holography map for home robot: an object-oriented approach
Intelligent Service Robotics
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In this paper, we investigate a pure form of the topological mapping problem in mobile robotics. We consider the mapping ability of a robot navigating a graph-like world in which it is able to assign a relative ordering to the edges, leaving a vertex with reference to the edge by which it arrived but is unable to associate a unique label with any vertex or edge. Our work extends and builds upon earlier approaches in this problem domain, which are based on construction of exploration tree of plausible world models. The main contributions of the paper are improved exploration strategies that reduce model ambiguity, a new method of search through consistent models in the exploration tree that maintains a bounded set of likely hypotheses based on the principle of Occam's Razor, the incorporation of arbitrary feature vectors into the problem formulation, and an investigation of various aspects of this problem through numerical simulations.