Hierarchical locative reasoning for autonomous mobile platforms
Alessandro Saffiotti, Leonard P. Wesley · 2002
Describes a fuzzy-based approach to self localization to support real-time indoor robot navigation. The authors use a hierarchical representation of map and environmental objects that are perceived from sensors. Each perceived object is matched against a map object to obtain an estimate of the robot's location with respect to the map. The authors use fuzzy techniques to characterize partial matches, and to combine estimates discerned by distinct objects. The authors' approach has been tested on the SRI mobile robot, Flakey.