Abstract
In this paper we describe a model for navigation of an autonomous agent in which localization, path planning, and locomotion is performed in a qualitative manner instead of relying on exact coordinates. Our approach is grounded in a decomposition of navigable space based on a novel model of visibility and occlusion relations between extended objects for agents with very limited sensor abilities. A graph representation reflecting the adjacency between the regions of the decomposition is used as a topological map of the environment. The visibility-based representation can be constructed autonomously by the agent and navigation can be performed by simple reactive navigation behaviors. Moreover, the representation is well-qualified to be shared between multiple agents.
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Fogliaroni, P., Wallgrün, J.O., Clementini, E., Tarquini, F., Wolter, D. (2009). A Qualitative Approach to Localization and Navigation Based on Visibility Information. In: Hornsby, K.S., Claramunt, C., Denis, M., Ligozat, G. (eds) Spatial Information Theory. COSIT 2009. Lecture Notes in Computer Science, vol 5756. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03832-7_19
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DOI: https://doi.org/10.1007/978-3-642-03832-7_19
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