Integrating Exploration, Localization, Navigation and Planning with a Common Representation

Authors:
Alan C. Schultz;William Adams;Brian Yamauchi
Affiliations:
Navy Center for Applied Research in Artificial Intelligence (NCARAI), Naval Research Laboratory, Washington, DC 20375-5337, USA. schultz@aic.nrl.navy.mil;Navy Center for Applied Research in Artificial Intelligence (NCARAI), Naval Research Laboratory, Washington, DC 20375-5337, USA;Navy Center for Applied Research in Artificial Intelligence (NCARAI), Naval Research Laboratory, Washington, DC 20375-5337, USA
Venue:
Autonomous Robots
Year:
1999

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Abstract

Two major themes of our research include the creation of mobile robotsystems that are robust and adaptive in rapidly changing environments,and the view of integration as a basic research issue. Wherereasonable, we try to use the same representations to allow differentcomponents to work more readily together and to allow better and morenatural integration of and communication between these components. Inthis paper, we describe our most recent work in integrating mobile robotexploration, localization, navigation, and planning through the use of acommon representation, evidence grids.