Schematized Aspect Maps for Robot Guidance
Diedrich Wolter, Kai‐Florian Richter · 2004
We present an approach to mobile robot guidance. The proposed architecture grants an abstract interface to robot navigation allowing to bridge from perception to high level control. The approach is based upon a comprehensive map representing metric, configurational, and topological knowledge. Robot instruction and localization is dealt with by communicating and reasoning about cyclic ordering information of shape-features.