Multiple map hypotheses for planning and navigating in non-stationary environments

Morris, Timothy, Dayoub, Feras, Corke, Peter, Wyeth, Gordon, & Upcroft, Ben (2014) Multiple map hypotheses for planning and navigating in non-stationary environments. In Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, Hong Kong, China, pp. 2765-2770.

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This paper presents a method to enable a mobile robot working in non-stationary environments to plan its path and localize within multiple map hypotheses simultaneously. The maps are generated using a long-term and short-term memory mechanism that ensures only persistent configurations in the environment are selected to create the maps. In order to evaluate the proposed method, experimentation is conducted in an office environment. Compared to navigation systems that use only one map, our system produces superior path planning and navigation in a non-stationary environment where paths can be blocked periodically, a common scenario which poses significant challenges for typical planners.

Impact and interest:

2 citations in Scopus
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ID Code: 72278
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Planning, Navigation, Localization, Mapping, Hypotheses
DOI: 10.1109/ICRA.2014.6907255
ISBN: 978-1-4799-3685-4
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 Please consult the authors
Deposited On: 02 Jun 2014 01:08
Last Modified: 04 Nov 2014 00:02

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