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A hybrid approach has recently been developed for autonomous robots that integrates the geometrical and topological models. It is characterized by the use of accurate metric maps (occupancy grids) as the basic level of representation. Then, this approach abstracts a topological graph from the global grid-based map in a second, off-line step. This involves computationally expensive representations and processing. Starting from the same basic concerns (hybrid map building) and tools (the use of local occupancy grids as basic primitives), a very different approach is proposed. This is not centred on building a global and accurate metric map of the environment. It is too hard and heavy to build and maintain such a type of maps for complex and dynamic environments. It is proposed that topological and metric aspects are not to be viewed hierarchically but collaboratively, and should be worked out in parallel.

Additional information

Authors: MILLÁN J, JRC Ispra (IT);DEDIEU E, JRC Ispra (IT);MILLAN J, JRC Ispra (IT)
Bibliographic Reference: Paper presented: Sixth International Symposium on Intelligent Robotic Systems, Edinburgh (GB), July 21-23, 1998
Availability: Available from (1) as Paper EN 41530 ORA
Record Number: 199810953 / Last updated on: 1998-09-01
Original language: en
Available languages: en
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