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Conference Proceeding

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Robot mapping even today is one of the most challenging problems in robot programming. Most successful methods use some form of occupancy grid to represent a mapped region. This approach becomes problematic if the robot is mapping a large environment, the map quickly becomes too large for processing and storage. Rather than storing the map as an occupancy grid, our robot (equipped with sonars) sees the world as a series of connected spaces. These spaces are initially mapped as an occupancy grid in a room by room fashion. As the robot leaves a space, denoted by passing through a doorway, the grids are converted to a polygonal representation. This polygonal representation is stored as rooms and hallways as a set of Absolute Space Representations (ASRs) representing the space connections. Using this representation makes navigation and localization easier for the robot to process.


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Source Publication

IEEE International Conference on Robotics and Automation, 2004 (ICRA '04)