Qualitative Methods for Robot Exploration

这笔赠款用于继续发展Kuipers博士的方法 探索性地图构建和定性机器人 导航 目前的模拟研究将扩大到 控制的动量占主导地位的机器人在一个未知的， 动态变化的二维环境。 感知方法是 来模拟机器人世界的拓扑特征 提取几何特征的易出错估计。 一个主要 主题将是拓扑识别和解决 模糊性，参数和定性建模 世界各国的变化。 另一个主题是平滑切换 在动量主导的 世界

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.