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Hierarchical locative reasoning for autonomous mobile platforms

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2 Author(s)
Saffiotti, A. ; Univ. Libre de Bruxelles, Belgium ; Wesley, L.P.

Describes a fuzzy-based approach to self localization to support real-time indoor robot navigation. The authors use a hierarchical representation of map and environmental objects that are perceived from sensors. Each perceived object is matched against a map object to obtain an estimate of the robot's location with respect to the map. The authors use fuzzy techniques to characterize partial matches, and to combine estimates discerned by distinct objects. The authors' approach has been tested on the SRI mobile robot, Flakey

Published in:

Intelligent Vehicles '95 Symposium., Proceedings of the

Date of Conference:

25-26 Sep 1995