Coordinating sensing and local navigationBased on Navigation Templates (or NaTs), this work presents a new paradigm for local navigation which addresses the noisy and uncertain nature of sensor data. Rather than creating a new navigation plan each time the robot's perception of the world changes, the technique incorporates perceptual changes directly into the existing navigation plan. In this way, the robot's navigation plan is quickly and continuously modified, resulting in actions that remain coordinated with its changing perception of the world.
Document ID
19930040999
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Slack, Marc G. (Mitre Corp. McLean, VA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990 (A93-24993 08-63)
Publisher: Society of Photo-Optical Instrumentation Engineers