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The map-building and exploration strategies of a simple sonar-equipped robot : an experimental, quantitative evaluation

Author: David Lee
Publisher: Cambridge ; New York : Cambridge University Press, 1996.
Series: Distinguished disserations in computer science.
Edition/Format:   Print book : EnglishView all editions and formats
Summary:

First book to describe a way of determining the best method to use to enable a robot to navigate.

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Material Type: Internet resource
Document Type: Book, Internet Resource
All Authors / Contributors: David Lee
ISBN: 0521573319 9780521573313
OCLC Number: 34513381
Notes: Based on the author's thesis (Ph. D.)--University College London.
Description: xi, 228 pages : illustrations ; 26 cm.
Contents: 1. Question, context and method; Part I. Starting Points: 2. Maps used in previous research; 3. The maps used in this research; 4. Approaches to exploration; Part II. System Components: 5. The robot; 6. Modelling the sonar sensor; 7. Map construction; 8. Path planning; 9. Localisation; 10. Map quality metrics; Part III. Experiments: 11. Experimental evaluation; 12. Wall-following; 13. The results of localisation; 14 Supervised wall-following; 15. Can a human do any better? 16. Longest lines of sight; 17. Free space boundaries; 18. Summary of experimental results; 19. Conclusion; 20. Directions for further research; Appendices; Bibliography; Index
Series Title: Distinguished disserations in computer science.
Responsibility: David Lee.
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