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From: Thomas Edlinger <edlinger@informatik.uni-kl.de>
Subject: Paper available (exploration, mobile robots)
Message-ID: <1994Sep28.183818.14823@uklirb.informatik.uni-kl.de>
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Hello,

A paper with the title

Exploration of an Indoor-Environment by an Autonomous Mobile Robot

is available via anonymous ftp at: ftp.uni-kl.de [131.246.94.94]
path: /reports_uni-kl/computer_science/mobile_robots/1994/papers
file: Edlinger.Exploration.ps.Z


ABSTRACT
This paper describes the exploration component of MOBOT-IV, an
autonomous mobile robot for indoor-applications. MOBOT-IV has no
preloaded world-model, but builds up an internal map, while
exploring the environment using its optical range finder. A
method is presented for the autonomous and systematic
construction of a 2D-map of the vehicles environment. Besides a
line based geometric representation of the obstacles a
topological abstraction of the robots environment is generated
representing the room structure.

The paper was presented at the IROS94 conference in Munich, Germany

Any comments, questions, remarks are welcome!

Thomas


=====================================================================
 
 Thomas Edlinger                               Tel. +49 631 205 2624
 University of Kaiserslautern                  Fax: +49 631 205 2803
 Computer Science Department
 Research Group Prof. Dr. v. Puttkamer
 Erwin-Schroedinger-Strasse P.O. Box 3049
 D-67653 Kaiserslautern
 GERMANY
 
                e-mail: edlinger@informatik.uni-kl.de
 
=====================================================================
