Abstract
Explicit representation of free-space is necessary for mobile robot navigation. This paper presents a fully implemented system that achieves incremental environment modelling for a 2D mobile robot using a laser range-finder. This system produces a surfacic model of objects (polylines and associated uncertainties) and a model of free-space (polygons) taking into account possible appearance and disappearance of objects.
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© 1993 Springer-Verlag Berlin Heidelberg
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Moutarlier, P., Chatila, R. (1993). Incremental free-space modelling from uncertain data by an autonomous mobile robot. In: Laugier, C. (eds) Geometric Reasoning for Perception and Action. GRPA 1991. Lecture Notes in Computer Science, vol 708. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57132-9_12
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DOI: https://doi.org/10.1007/3-540-57132-9_12
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