Occupancy grids are a probabilistic method for fusing multiplesensor readings into surface
maps of the environment. Although theunderlying theory has been understood for many …

A selective vision system sequentially collects evidence to answer a specific question with a
desired level of confidence. Efficiency comes from processing the scene only where …

This thesis documents an experimental investigation into the map-building and exploration
capabilities of a mobile robot. A map enables a robot to predict the state of its environment …

Failures in mobile robot navigation are often caused by errors in localizing the robot relative
to its environment. This paper explores the idea that these errors can be considerably …

This paper proposes an integrated approach to robot navigation that incorporates task-
related information needs, perceptual capabilities, robot knowledge metrics and spatial …

This article describes an experimental investigation into the map-building and exploration
capabilities of a mobile robot. Two types of map are used: a set of line and point features …

Featured Application The work in this paper is about the core techniques of mobile robots,
especially for the localization and navigation in indoor or structured environments, such as …

As recent research is directed towards flexible and autonomous robot behaviour, a priori
knowledge is increasingly replaced by data obtained automatically by external sensors of …

This paper presents a failure detection framework for external sensors on autonomous
mobile robots. Each sensor's measurements make statements about the robot's …

Sensorial perception is a key issue for the problem of robot local navigation, that is, the
immediate or short-range motion planning, reacting only to the free space around the robot …