TY - GEN
T1 - Towards exact localization without explicit localization with the generalized Voronoi graph
AU - Nagatani, K.
AU - Choset, H.
AU - Thrun, S.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work.
AB - Sensor based exploration is a task which enables a robot to explore and map an unknown environment, using sensor information. The map used in this paper is the generalized Voronoi graph (GVG). The robot explores an unknown environment using an already developed incremental construction procedure to generate the GVG using sensor information. This paper presents some initial results which uses the GVG for robot localization, while mitigating the need to update encoder values. Experimental results verify the described work.
UR - http://www.scopus.com/inward/record.url?scp=0031637130&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0031637130&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1998.676421
DO - 10.1109/ROBOT.1998.676421
M3 - Conference contribution
AN - SCOPUS:0031637130
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 342
EP - 348
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -