A key difficulty in the design of multi-agent robotic systems is the size and complexity of the
space of possible designs. In order to make principled design decisions, an understanding …

This paper presents a new sensing modality for multirobot exploration. The approach is
based on using a pair of robots that observe each other, and act in concert to reduce …

We study how a mobile robot can learn an unknown environment in a piecemeal manner.
The robot's goal is to learn a complete map of its environment, while satisfying the constraint …

Identification of robot kinematic errors during the calibration process often requires accurate
full pose measurements (position and orientation) of robot end-effectors in Cartesian space …

V1'e study how a mobile robot can piecemeal learn an unknown environment. The robot's
goal is to learn a complete map of its environment, while satisfying the constraint that it must …

In this paper we propose a hierarchy of techniques for performing loop closure in indoor
environments together with an exploration strategy designed to reduce uncertainty in the …

Visual shape analysis plays a fundamental role in perception by man and by computer,
allowing for inferences about properties of objects and scenes in the physical world …

This paper presents an extension of our previous work on hybrid metric/topological maps to
enable uncertainty reduction planning through the map, taking into account both map …

We consider how to directly extract a road map (also known as a topological representation)
of an initially-unknown 2-dimensional environment via an on-line procedure which robustly …

A low-cost device is presented for noncontact measurement of robot position and
orientation. It consists of an optical sensor and three laser scanners. The sensor is attached …