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A mobile robot can determine its rotation with respect to a goal position by comparing the image taken at the goal with the current image. Assuming that both images are omnidirectional, the current image can be shifted horizontally to determine the minimum difference with the goal image, and hence the rotation. The size of the region around the goal wherein this strategy succeeds is reduced by the...
A biologically-inspired approach to robot route following is presented. Snapshot images of a robot's environment are captured while learning a route. Later, when retracing the route, the robot uses visual homing to move between positions where snapshot images had been captured. This general approach was inspired by experiments on route following in wood ants. The impact of odometric error and another...
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