Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.


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    Title :

    Mobile Robot Exploration and Navigation of Indoor Spaces Using Sonar and Vision


    Contributors:
    D. Kortenkamp (author) / M. Huber (author) / F. Koss (author) / W. Belding (author) / J. Lee (author)

    Publication date :

    1994


    Size :

    11 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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