Towards exact localization without explicit localization with the generalized Voronoi graph

K. Nagatani; H. Choset; S. Thrun

doi:10.1109/ROBOT.1998.676421

Towards exact localization without explicit localization with the generalized Voronoi graph

K. Nagatani, H. Choset, S. Thrun

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	342-348
Number of pages	7
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.676421
Publication status	Published - 1998 Jan 1
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
ISSN (Print)	1050-4729

Other

Other	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country	Belgium
City	Leuven
Period	98/5/16 → 98/5/20

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.1998.676421

Fingerprint Dive into the research topics of 'Towards exact localization without explicit localization with the generalized Voronoi graph'. Together they form a unique fingerprint.

Cite this

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

Towards exact localization without explicit localization with the generalized Voronoi graph. / Nagatani, K.; Choset, H.; Thrun, S.

Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. p. 342-348 676421 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 676421, Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 342-348, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 98/5/16. https://doi.org/10.1109/ROBOT.1998.676421

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

@inproceedings{c68d270c8f454c9d9b80689216750e9c,

title = "Towards exact localization without explicit localization with the generalized Voronoi graph",

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.",

author = "K. Nagatani and H. Choset and S. Thrun",

year = "1998",

month = jan,

day = "1",

doi = "10.1109/ROBOT.1998.676421",

language = "English",

isbn = "078034300X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "342--348",

booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",

note = "15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",

}

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 -