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
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