Towards a computational theory of cognitive maps
Artificial Intelligence
Cognitive maps for mobile robots: a representation for mapping and navigation
Cognitive maps for mobile robots: a representation for mapping and navigation
Computing a representation of the local environment
Artificial Intelligence
The spatial semantic hierarchy
Artificial Intelligence
Computer Vision
A Split & Merge Approach to Metric-Topological Map-Building
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Using a mobile robot for cognitive mapping
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Using 2d and 3d landmarks to solve the correspondence problem in cognitive robot mapping
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
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This paper shows how a mobile robot equipped with sonar sensors and an odometer is used to test ideas about cognitive mapping. The robot first explores an office environment and computes a "cognitive map" which is a network of ASRs [1]. The robot generates two networks, one for the outward journey and the other for the journey home. It is shown that both networks are different. The two networks, however, are not merged to form a single network. Instead, the robot attempts to use distance information implicit in the shape of each ASR to find its way home. At random positions in the homeward journey, the robot calculates its orientation towards home. The robot's performances for both problems are evaluated and found to be surprisingly accurate.