2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
DOI: 10.1109/iros.2009.5354063
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Efficient path planning in deformable maps

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Cited by 5 publications
(2 citation statements)
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“…However, since topological maps are not accurate enough to localize the robot in all cases, they are sometimes combined with local grid maps [86,180,181]. In these approaches, the topological map is used as a roadmap to devise a path to the goal using graph search techniques, and the local grid map associated with each node in the topological map is used to compute a path from one node to the next, considering local obstacle avoidance and path smoothing.…”
Section: Bibliographical Notesmentioning
confidence: 99%
“…However, since topological maps are not accurate enough to localize the robot in all cases, they are sometimes combined with local grid maps [86,180,181]. In these approaches, the topological map is used as a roadmap to devise a path to the goal using graph search techniques, and the local grid map associated with each node in the topological map is used to compute a path from one node to the next, considering local obstacle avoidance and path smoothing.…”
Section: Bibliographical Notesmentioning
confidence: 99%
“…An alternative is to compute a lighter representation of the environment such as a topological map [28,50,55] and to use it for path planning [161]. However, since topological maps are not accurate enough to localize the robot in all cases, they are sometimes combined with local grid maps [86,180,181]. In these approaches, the topological map is used as a roadmap to devise a path to the goal using graph search techniques, and the local grid map associated with each node in the topological map is used to compute a path from one node to the next, considering local obstacle avoidance and path smoothing.…”
Section: Bibliographical Notesmentioning
confidence: 99%