A Distributed Model for Mobile Robot Environment-Learning and Navigation

Title: en_US A Distributed Model for Mobile Robot Environment-Learning and Navigation
Creator: en_US Mataric, Maja J.
Date: 2004-10-20T20:22:47Z
Date Available: 2004-10-20T20:22:47Z
Date Issued: en_US 1990-05-01
Identifier: en_US AITR-1228
uri: http://hdl.handle.net/1721.1/7027
Abstract: en_US A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: a collection of reflex-like rules resulting in emergent boundary-tracing. 2) Landmark detection: dynamically extracts landmarks from the robot's motion. 3) Map learning: constructs a distributed map of landmarks. The parallel implementation allows for localization in constant time. Spreading of activation computes both topological and physical shortest paths in linear time. The main issues addressed are: distributed, procedural, and qualitative representation and computation, emergent behaviors, dynamic landmarks, minimized communication.
Extent: 9091597 bytes; 7065742 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1228