Paper available on "Minimal Qualitative Topologic World Models for Mobile Robots"

[Uwe R. Zimmer]

Paper available via WWW / FTP:

keywords: mobile robots, exploration, world modelling, 
self-localization, artificial neural networks

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   Minimal Qualitative Topologic World Models for Mobile Robots
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                         Uwe R. Zimmer

                 (submitted for publication)


World models for mobile robots as introduced in many projects, are 
mostly redundant regarding similar situations detected in different 
places. The present paper proposes a method for dynamic generation of 
a minimal world model based on these redundancies. The technique is an 
extention of the qualitative topologic world modelling methods. As a 
central aspect the reliability regarding error-tolerance and stability 
will be emphasized. The proposed technique demands very low 
constraints on the kind and quality of the employed sensors as well as 
for the kinematic precision of the utilized mobile platform. Hard 
realtime constraints can be handled due to the low computational 
complexity. The principal discussions are supported by real-world 
experiments with the mobile robot "ALICE".

(5 pages - 928 KB) 

for the WWW-link:

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http://ag-vp-www.informatik.uni-kl.de/Projekte/ALICE/
abs.Minimal.html
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for the homepage of the author (including more reports):

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http://ag-vp-www.informatik.uni-kl.de/Leute/Uwe/
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or for the ftp-server hosting the file:

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ftp://ag-vp-ftp.informatik.uni-kl.de/Public/Neural_Networks/
Reports/Zimmer.Minimal.ps.Z
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   Uwe R. Zimmer                                              ---
     University of Kaiserslautern - Computer Science Department  |
     67663 Kaiserslautern - Germany                              |
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     Phone:+49 631 205 2624     |     Fax:+49 631 205 2803       |
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         http://ag-vp-www.informatik.uni-kl.de/Leute/Uwe/        |