An architecture and two cases in range-based modeling and planning
William Whittaker, George M. Turkiyyah, Martial Hebert · 2005
This paper presents a framework for autonomous robots that reason from range data. We argue for spatial reasoning as a basic cognition mode for robots operating in unpredictable work environments and present a three-level architecture for modeling and planning from range data. Two implementations, robotic excavation with sonar ranging and mine navigation with laser ranging, illustrate the techniques and provide two experiences to evaluate the architecture.