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Spatial learning for navigation in dynamic environments

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2 Author(s)
B. Yamauchi ; Inst. for the Study of Learning & Expertise, Palo Alto, CA, USA ; R. Beer

This article describes techniques that have been developed for spatial learning in dynamic environments and a mobile robot system, ELDEN, that integrates these techniques for exploration and navigation. In this research, we introduce the concept of adaptive place networks, incrementally-constructed spatial representations that incorporate variable-confidence links to model uncertainty about topological adjacency. These networks guide the robot's navigation while constantly adapting to any topological changes that are encountered. ELDEN integrates these networks with a reactive controller that is robust to transient changes in the environment and a relocalization system that uses evidence grids to recalibrate dead reckoning

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:26 ,  Issue: 3 )