Graph-based mapping by mobile robots
Kenneth Basye · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
We have developed a system for robotic map construction based on representing the robot's environment as a finite automation. In this paper we first describe the automation model, then present an algorithm used to control exploration and construct a map. We describe the robotic systems used by the algorithm as procedures, and report on experiments performed using the system in simulation and in a real environment.