Towards exact localization without explicit localization with the generalized Voronoi graph

K. Nagatani, H. Choset, S. Thrun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

30 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages342-348
Number of pages7
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Nagatani, K., Choset, H., & Thrun, S. (1998). Towards exact localization without explicit localization with the generalized Voronoi graph. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 342-348). [676421] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.676421