• DocumentCode
    2631851
  • Title

    Learning Combinatorial Information from Alignments of Landmarks

  • Author

    Freda, Luigi ; Tovar, Benjamín ; LaValle, Steven M.

  • Author_Institution
    Dipt. di Informatica e Sistemistica, Universita di Roma "La Sapienza"
  • fYear
    2007
  • fDate
    10-14 April 2007
  • Firstpage
    4295
  • Lastpage
    4300
  • Abstract
    This paper characterizes the information space of a robot moving in the plane with limited sensing. The robot has a landmark detector, which provides the cyclic order of the landmarks around the robot, and it also has a touch sensor, that indicates when the robot is in contact with the environment boundary. The robot cannot measure any precise distances or angles, and does not have an odometer or a compass. We propose to characterize the information space associated with such robot through the swap cell decomposition. We show how to construct such decomposition through its dual, called the swap graph, using two kinds of feedback motion commands based on the landmarks sensed.
  • Keywords
    SLAM (robots); graph theory; learning (artificial intelligence); motion control; robot vision; tactile sensors; combinatorial information learning; environment boundary; feedback motion command; landmark alignment; landmark detection; robot information space; swap cell decomposition; swap graph; touch sensor; Computer science; Detectors; Navigation; Orbital robotics; Robot sensing systems; Robotics and automation; Simultaneous localization and mapping; Space exploration; Tactile sensors; USA Councils;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2007 IEEE International Conference on
  • Conference_Location
    Roma
  • ISSN
    1050-4729
  • Print_ISBN
    1-4244-0601-3
  • Electronic_ISBN
    1050-4729
  • Type

    conf

  • DOI
    10.1109/ROBOT.2007.364140
  • Filename
    4209758