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Portable, modular and extensible software allows robotics researchers to pool their resources by sharing algorithms, thus advancing research in the field of robotics at a faster rate than is possible under a non-collaborative model. The development and use of frameworks and middleware, allowing researchers to encapsulate robotic capabilities within a component structure, has traditionally been the...
This paper introduces a technique for creating 2 1/2D grid maps of unstructured, outdoor environments, while traveling at high speeds, using an inexpensive nodding 2-D laser rangefinder. The nodding mechanism allows the acquisition of multiple range data sets for terrain in front of the robot. While these multiple data sets alleviate some of the problems traditionally associated with laser rangefinders,...
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