Qualitative Methods for Robot Exploration

这笔拨款是为了继续发展Kuipers博士的探索性地图构建和定性机器人导航方法。当前的仿真研究将扩展到未知和动态变化的二维环境中动量主导机器人的控制。感知方法是在提取容易出错的几何特征估计之前对机器人世界的拓扑特征进行建模。一个主要的主题将是识别和解决拓扑模糊性，在世界状态的参数和质变建模。另一个主题是在动量主导的世界中，在预期控制策略之间的平稳切换。

This grant is for continued development of Dr. Kuipers' approach to exploratory map construction and qualitative robotic navigation. Current simulation studies will be extended to control of a momentum-dominated robot in an unknown and dynamically changing 2-D environment. The perceptual approach is to model topological features of the robot's world before extracting error-prone estimates of geometric features. A major theme will be recognition and resolution of topological ambiguities, with modeling of both parametric and qualitative changes in world states. Another theme is smooth switching between anticipatory control strategies in a momentum-dominated world.