Case-Based Indoor Navigation

Alessandro Micarelli, Giuseppe Sansonetti



The purpose of this paper is to present a novel approach to the problem of autonomous robot navigation in a partially structured environment. The proposed solution is based on the ability of recognizing digital images that have been artificially obtained by applying a sensor fusion algorithm to ultrasonic sensor readings. Such images are classified in different categories using the well known Case-Based Reasoning (CBR) technique, as defined in the Artificial Intelligence domain. The architecture takes advantage of fuzzy theory for the construction of digital images, and wavelet functions for their analysis.


  1. Aamodt, A., and Plaza, E. Case-Based Reasoning: Foundational Issues, Methodological Variations, and System Approaches. AI Communications, 7(1), pp. 39-59, 1994.
  2. Chui, C.K. An Introduction to Wavelets. Academic Press, London, England, 1992.
  3. Daubechies, I. Orthonormal bases of compactly supported wavelets. Comm. Pure Appl. Math., 41(7), pp. 909-996, 1988.
  4. Fabrizi, E., Panzieri, S., and Ulivi, G. Extracting topological features of indoor environment from sonar-based fuzzy maps. Proceedings of the 6th International Conference on Intelligent Autonomous Systems, Venice, Italy, 2000.
  5. Kolodner, J. Case-Based Reasoning. Morgan Kaufmann, San Mateo, CA, 1993.
  6. Mallat, S.G. A Theory for Multiresolution Signal Decomposition: the Wavelet Representation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 11(7), pp. 674-693, 1989.
  7. Oriolo, G., Vendittelli, M., and Ulivi, G. Real-Time Map Building and navigation for Autonomous Robots in Unknown Environments. IEEE Transactions on Systems, Men and Cybernetics - Part B: Cybernetics, 28(3), pp. 316-333, 1998.
  8. Panzieri, S., Petroselli, D., and Ulivi, G. Topological localization on indoor sonar-based fuzzy maps. Intelligent Autonomous System, IOS Press, Amsterdam, Netherlands, pp. 596- 603, 2000.
  9. Panzieri, S., Pascucci, F., and Petroselli, D. Auton. Navigation ARCHitecture for Intelligent Control,, 2002.

Paper Citation

in Harvard Style

Micarelli A. and Sansonetti G. (2007). Case-Based Indoor Navigation . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 97-106. DOI: 10.5220/0002069300970106

in Bibtex Style

@conference{robot vision07,
author={Alessandro Micarelli and Giuseppe Sansonetti},
title={Case-Based Indoor Navigation},
booktitle={Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)},

in EndNote Style

JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
TI - Case-Based Indoor Navigation
SN - 978-972-8865-76-4
AU - Micarelli A.
AU - Sansonetti G.
PY - 2007
SP - 97
EP - 106
DO - 10.5220/0002069300970106