Intelligent planning based on multi-resolution map for simultaneous localization and mapping

Yuichiro Toda; Naoyuki Kubota; Norio Baba

doi:10.1109/RIISS.2011.5945794

Intelligent planning based on multi-resolution map for simultaneous localization and mapping

Yuichiro Toda, Naoyuki Kubota, Norio Baba

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

Simultaneous localization and mapping (SLAM) is one of important topics in robotics. However, we must consider various intelligent behaviors in SLAM, e.g., the exploration of unknown areas and effective path planning of mobile robots. To realize these intelligent behaviors, we use a multi-resolution map. The multi-resolution map can be updated by the operators suitable to a specific aim. The first aim is to represent the occupied or empty cells in the built map. The next aim is to represent the unknown areas in the built map. These are used for the intelligent planning. The intelligent planning is composed of preplanning, online planning, and adaptive planning. These planning methods are used according to the state of a built map. The experimental results show the effectiveness of the proposed method.

Original language	English
Title of host publication	IEEE SSCI 2011
Subtitle of host publication	Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space
Pages	144-150
Number of pages	7
DOIs	https://doi.org/10.1109/RIISS.2011.5945794
Publication status	Published - Aug 12 2011
Externally published	Yes
Event	Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011 - Paris, France Duration: Apr 11 2011 → Apr 15 2011

Publication series

Name	IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space

Other

Other	Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011
Country/Territory	France
City	Paris
Period	4/11/11 → 4/15/11

Keywords

Intelligent Robitics
Multi-resolution Map
Planning and Scheduling
Simultaneous Localization and Mapping

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Information Systems

Access to Document

10.1109/RIISS.2011.5945794

Cite this

Toda, Y., Kubota, N., & Baba, N. (2011). Intelligent planning based on multi-resolution map for simultaneous localization and mapping. In IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (pp. 144-150). Article 5945794 (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space). https://doi.org/10.1109/RIISS.2011.5945794

Intelligent planning based on multi-resolution map for simultaneous localization and mapping. / Toda, Yuichiro; Kubota, Naoyuki; Baba, Norio.
IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space. 2011. p. 144-150 5945794 (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Toda, Y, Kubota, N & Baba, N 2011, Intelligent planning based on multi-resolution map for simultaneous localization and mapping. in IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space., 5945794, IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, pp. 144-150, Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RIISS 2011, Paris, France, 4/11/11. https://doi.org/10.1109/RIISS.2011.5945794

Toda Y, Kubota N, Baba N. Intelligent planning based on multi-resolution map for simultaneous localization and mapping. In IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space. 2011. p. 144-150. 5945794. (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space). doi: 10.1109/RIISS.2011.5945794

Toda, Yuichiro ; Kubota, Naoyuki ; Baba, Norio. / Intelligent planning based on multi-resolution map for simultaneous localization and mapping. IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space. 2011. pp. 144-150 (IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space).

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Intelligent planning based on multi-resolution map for simultaneous localization and mapping

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