A Qualitative Approach to Localization and Navigation Based on Visibility Information

A Qualitative Approach to Localization and Navigation Based on Visibility Information. Fogliaroni, P., Wallgrün, J. O., Clementini, E., Tarquini, F., & Wolter, D. In Proceedings of the 9th international conference on Spatial information theory, of Lecture Notes in Computer Science, pages 312–329, Berlin, Heidelberg, 2009. Springer-Verlag.

Paper doi abstract bibtex

In this paper we describe a model for navigation of an autonomous agent in which localization, path planning, and locomotion is performed in a qualitative manner instead of relying on exact coordinates. Our approach is grounded in a decomposition of navigable space based on a novel model of visibility and occlusion relations between extended objects for agents with very limited sensor abilities. A graph representation reflecting the adjacency between the regions of the decomposition is used as a topological map of the environment. The visibility-based representation can be constructed autonomously by the agent and navigation can be performed by simple reactive navigation behaviors. Moreover, the representation is well-qualified to be shared between multiple agents.

@inproceedings{Fogliaroni09qualitative,
abstract = {In this paper we describe a model for navigation of an autonomous agent in which localization, path planning, and locomotion is performed in a qualitative manner instead of relying on exact coordinates. Our approach is grounded in a decomposition of navigable space based on a novel model of visibility and occlusion relations between extended objects for agents with very limited sensor abilities. A graph representation reflecting the adjacency between the regions of the decomposition is used as a topological map of the environment. The visibility-based representation can be constructed autonomously by the agent and navigation can be performed by simple reactive navigation behaviors. Moreover, the representation is well-qualified to be shared between multiple agents.},
address = {Berlin, Heidelberg},
author = {Fogliaroni, Paolo and Wallgr{\"{u}}n, Jan Oliver and Clementini, Eliseo and Tarquini, Francesco and Wolter, Diedrich},
booktitle = {Proceedings of the 9th international conference on Spatial information theory},
doi = {10.1007/978-3-642-03832-7_19},
file = {:Users/tremity/Dropbox/0.CurrentWork/Research(dropbox)/Publications/Published/2009.COSIT/COSIT2009{\_}preprint/paper{\_}preprint.pdf:pdf},
isbn = {3-642-03831-X, 978-3-642-03831-0},
pages = {312--329},
publisher = {Springer-Verlag},
series = {Lecture Notes in Computer Science},
title = {{A Qualitative Approach to Localization and Navigation Based on Visibility Information}},
url = {http://portal.acm.org/citation.cfm?id=1789534.1789559 http://link.springer.com/10.1007/978-3-642-03832-7{\_}19},
year = {2009}
}

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