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Passive mapping and intermittent exploration for mobile robotsAn adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.
Document ID
19950005136
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Engleson, Sean P.
(Yale Univ. New Haven, CT, United States)
Date Acquired
September 6, 2013
Publication Date
March 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, Conference on Intelligent Robotics in Field, Factory, Service and Space (CIRFFSS 1994), Volume 2
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 94-1293-CP
Accession Number
95N11549
Distribution Limits
Public
Copyright
Public Use Permitted.
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