Hybrid Maps

• Map Structure

  • inspired from mechanics
  • topological graph
  • edges: lengths, orientations and #times

• Elastic Correction

  • Compute displacement
  • Compute forces producing this displacement
  • Distribute forces

A truss bar with a linear elastic spring and a rotational elastic spring

Golfarelli et al’98

Environment

Robot

Purpose

General

Navigation

Pioneer I7 Sonars

Camera

• global matching

• incremental

• difficult force distribution

Comments

displacement

F1

F2

Previous slide

Next slide

Back to first slide

View graphic version