Topological Navigation of Simulated Robots using Occupancy Grid
<|reference_start|>Topological Navigation of Simulated Robots using Occupancy Grid: Formerly I presented a metric navigation method in the Webots mobile robot simulator. The navigating Khepera-like robot builds an occupancy grid of the environment and explores the square-shaped room around with a value iteration algorithm. Now I created a topological navigation procedure based on the occupancy grid process. The extension by a skeletonization algorithm results a graph of important places and the connecting routes among them. I also show the significant time profit gained during the process.<|reference_end|>
@article{szabo2004topological,
    title={Topological Navigation of Simulated Robots using Occupancy Grid},
    author={Richard Szabo},
    journal={International Journal of Advanced Robotic Systems, ISSN 1729-8806,
  Volume 1, Number 3 (2004), pp.201-206},
    year={2004},
    archivePrefix={arXiv},
    eprint={cs/0411022},
    primaryClass={cs.RO cs.AI}
}