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Authors: Francesco Amigoni ; Vincenzo Caglioti and Umberto Galtarossa

Affiliation: Politecnico di Milano, Italy

ISBN: 972-8865-12-0

ISSN: 2184-2809

Keyword(s): Robot Mapping. Exploration Strategies. Relative Entropy. Laser Range Scanner.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: The availability of efficient mapping systems to produce accurate representations of initially unknown environments is undoubtedly one of the main requirements for autonomous mobile robots. This paper presents a mapping system that has been implemented on a mobile robot equipped with a laser range scanner. The system builds geometrical maps of the environment employing an exploration strategy that takes into account both the distance travelled and the information gathered to determining the observation positions. This strategy is based on stronger mathematical foundations than the exploration strategies proposed in literature: this is the distinctive feature of our approach and constitutes the main original contribution of this paper.

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Paper citation in several formats:
Amigoni, F.; Caglioti, V. and Galtarossa, U. (2004). A MOBILE ROBOT MAPPING SYSTEM WITH AN INFORMATION-BASED EXPLORATION STRATEGY.In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 71-78. DOI: 10.5220/0001141900710078

@conference{icinco04,
author={Francesco Amigoni and Vincenzo Caglioti and Umberto Galtarossa},
title={A MOBILE ROBOT MAPPING SYSTEM WITH AN INFORMATION-BASED EXPLORATION STRATEGY},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={71-78},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001141900710078},
isbn={972-8865-12-0},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A MOBILE ROBOT MAPPING SYSTEM WITH AN INFORMATION-BASED EXPLORATION STRATEGY
SN - 972-8865-12-0
AU - Amigoni, F.
AU - Caglioti, V.
AU - Galtarossa, U.
PY - 2004
SP - 71
EP - 78
DO - 10.5220/0001141900710078

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