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Robust Navigation in an Unknown Environment With Minimal Sensing and Representation

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3 Author(s)
Mastrogiovanni, F. ; Dept. of Commun., Comput., & Syst. Sci., Univ. of Genova, Genova ; Sgorbissa, A. ; Zaccaria, R.

This paper presents muNav, a novel approach to navigation which, with minimal requirements in terms of onboard sensory, memory, and computational power, exhibits way-finding behaviors in very complex environments. The algorithm is intrinsically robust, since it does not require any internal geometrical representation or self-localization capabilities. Experimental results, performed with both simulated and real robots, validate the proposed theoretical approach.

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:39 ,  Issue: 1 )