Cognitive Maps

• Control Level

  • d-measures: support local convergence
  • distinctive place: local max of a hill-climbing strategy (+ d-measure)
  • distinctive path: LCS + d-measure

• Topological Level

  • connectivity

• Geometric Level

  • accumulates metric information
  • created after the topological level

Kuipers & Byun’91

Environment

Robot

Purpose

Large scale

Navigation,Planning

NX, simulated

16 sonars

compass

• Adapt to robot & environment

• Eliminate metric errors

• Better control

• Better navigation

• Standard fusion methods

• Sparse environments

• d-measures?

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