Position estimation for mobile robots in dynamic environments
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
From Animals to Animats 6: Proceedings of the Sixth International Conference on Simulation of Adaptive Behavior
Learning View Graphs for Robot Navigation
Autonomous Robots - Special issue on autonomous agents
Learning topological maps with weak local odometric information
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Spatial learning for navigation in dynamic environments
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Map-based navigation in mobile robots
Cognitive Systems Research
Cognitive Maps in Rats and Robots
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Appearance-based localization for mobile robots using digital zoom and visual compass
Robotics and Autonomous Systems
Integration of an Omnidirectional Visual System with the Control Architecture of Psikharpax
SAB '08 Proceedings of the 10th international conference on Simulation of Adaptive Behavior: From Animals to Animats
Analyzing Interactions between Navigation Strategies Using a Computational Model of Action Selection
Proceedings of the international conference on Spatial Cognition VI: Learning, Reasoning, and Talking about Space
Visual topological SLAM and global localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A robot vision algorithm for navigating in and creating a topological map of a reconfigurable maze
ICANN'10 Proceedings of the 20th international conference on Artificial neural networks: Part II
Comparative Experimental Studies on Spatial Memory and Learning in Rats and Robots
Journal of Intelligent and Robotic Systems
From factorial and hierarchical HMM to bayesian network: a representation change algorithm
SARA'05 Proceedings of the 6th international conference on Abstraction, Reformulation and Approximation
Map-based navigation in mobile robots
Cognitive Systems Research
A qualitative path planner for robot navigation using human-provided maps
International Journal of Robotics Research
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This paper describes a navigation system implemented on a real mobile robot. Using simple sonar and visual sensors, it makes possible the autonomous construction of a dense topological map representing the environment. At any time during the mapping process, this system is able to globally localize the robot, i.e. to estimate the robot's position even if the robot is passively moved from one place to another within the mapped area. This is achieved using algorithms inspired by Hidden Markov Models adapted to the on-line building of the map. Advantages and drawbacks of the system are discussed, along with its potential implications for the understanding of biological navigation systems.