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This paper presents a novel approach to navigation in an a priori unknown, GPS-denied environment. The aim is to combine dynamic path planning with the ability to learn about the environment. The vehicle is tasked with autonomous travel from an uncertain initial position to an uncertain target, without prior mapping information. The environment is modelled using linear segments that represent boundaries...
A method for global map building from occupancy grids is presented in this paper. Occupancy grids provide a low-level representation of the environment, suitable for autonomous navigation tasks, in urban driving scenarios. The occupancy grids used in our approach are computed with a method that outputs an occupancy grid with three distinct cell types: road, traffic isles and obstacles. First, we perform...
The "solution" of the simultaneous localisation and mapping (SLAM) problem has been one of the notable successes of the robotics community. SLAM has been formulated and solved as a theoretical problem in a number of different forms. SLAM has also been implemented in a number of different domains from indoor robots to outdoor, underwater, and airborne systems. At a theoretical and conceptual...
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