Accession Number : ADA332317

Title :   A Probabilistic Approach for Concurrent Map Acquisition and Localization for Mobile Robots

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE

Personal Author(s) : Thrun, Sebastian ; Burgard, Wolfram ; Fox, Dieter

PDF Url : ADA332317

Report Date : OCT 1997

Pagination or Media Count : 31

Abstract : This paper addresses the problem of building large scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.

Descriptors :   *ROBOTS, *MAPS, ALGORITHMS, EXPERIMENTAL DATA, MAXIMUM LIKELIHOOD ESTIMATION, AUTONOMOUS NAVIGATION.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE