At its heart, the software approach relies on probabilistic computation, on-line learning, and any-time algorithms. It presents a modular and distributed software architecture, which integrates localization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence. This article describes the software architecture of an autonomous, interactive tour-guide robot. The problem of map building is the problem of determining the location of entities-of-interest (such as: landmarks, obstacles), often relative to a global frame of reference (such as. Introduction Over the last two decades or so, the problem of acquiring maps in indoor environments has received considerable attention in the mobile robotics community. ![]() Keywords: Bayes rule, expectation maximization, mobile robots, navigation, localization, mapping, maximum likelihood estimation, positioning, probabilistic reasoning 1. ![]() Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach. It then devises a practical algorithm for generating the most likely map from data, alog with the most likely path taken by the robot. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. ![]() ![]() This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots.
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