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Robotics Research

The ISL web site is maintained by Sean Andersson. Most recent update 03/08/01.

Map building

For many of the ideas we would like to pursue it is vital that our robots have the ability to build maps of their environment. Research in this area has been active for quite some time and many results exist. In recent work probabilistic robotics have been shown to hold great promise. For this reason (and for a few others) we have decided to implement the evidence grid approach developed by H. Moravec. An excellent overview of the approach is given in the following report written by Dr. Moravec: We are currently building the framework for supporting coordinated mapping with multiple robots, investigating sensor models for our robots, and considering efficient storage techniques that will support ideas we have for landmark based localization and navigation.

Ongoing and future work

  • Learn sensor models
  • Develop Map server, a networked mapping utility
  • Investigage robust mapping methods in the presence of odometry error