AbstractS. Koenig, C. Tovey and W. Halliburton. Greedy Mapping of Terrain. In IEEE International Conference on Robotics and Automation (ICRA), pages 3594-3599, 2001.
Abstract: We study a greedy mapping method that always moves the robot from its current location to the closest location that it has not visited (or observed) yet, until the terrain is mapped. Although one does not expect such a simple mapping method to minimize the travel distance of the robot, we present analytical results that show (perhaps surprisingly) that the travel distance of the robot is reasonably small. This is interesting because greedy mapping has a number of desirable properties. It is simple to implement and integrate into complete robot architectures. It does not need to have control of the robot at all times, takes advantage of prior knowledge about parts of the terrain (if available), and can be used by several robots cooperatively.
Download the paper in pdf.
Download the paper in gzipped postscript (large download time).
Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.
This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.