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Cognitive Robot Mapping With Polylines And An Absolute Space Representation, Kennard R. Laviers, Gilbert L. Peterson
Cognitive Robot Mapping With Polylines And An Absolute Space Representation, Kennard R. Laviers, Gilbert L. Peterson
Faculty Publications
Robot mapping even today is one of the most challenging problems in robot programming. Most successful methods use some form of occupancy grid to represent a mapped region. This approach becomes problematic if the robot is mapping a large environment, the map quickly becomes too large for processing and storage. Rather than storing the map as an occupancy grid, our robot (equipped with sonars) sees the world as a series of connected spaces. These spaces are initially mapped as an occupancy grid in a room by room fashion. As the robot leaves a space, denoted by passing through a doorway, …
Development Approaches Coupled With Verification And Validation Methodologies For Agent-Based Mission-Level Analytical Combat Simulations, Lance E. Champagne
Development Approaches Coupled With Verification And Validation Methodologies For Agent-Based Mission-Level Analytical Combat Simulations, Lance E. Champagne
Theses and Dissertations
This research investigated the applicability of agent-based combat simulations to real-world combat operations. An agent-based simulation of the Allied offensive search for German U-Boats in the Bay of Biscay during World War II was constructed, extending the state-of-the-art in agent-based combat simulations, bridging the gap between the current level of agent-like combat simulations and the concept of agent-based simulations found in the broader literature. The proposed simulation advances agent-based combat simulations to “validateable” mission-level military operations. Simulation validation is a complex task with numerous, diverse techniques available and levels of validation differing significantly among simulations and applications. This research presents …
Concurrent Cognitive Mapping And Localization Using Expectation Maximization, Kennard R. Laviers
Concurrent Cognitive Mapping And Localization Using Expectation Maximization, Kennard R. Laviers
Theses and Dissertations
Robot mapping remains one of the most challenging problems in robot programming. Most successful methods use some form of occupancy grid for representing a mapped region. An occupancy grid is a two dimensional array in which the array cells represents (x,y) coordinates of a cartesian map. This approach becomes problematic in mapping large environments as the map quickly becomes too large for processing and storage. Rather than storing the map as an occupancy grid, our robot (equipped with ultrasonic sonars) views the world as a series of connected spaces. These spaces are initially mapped as an occupancy grid in a …