MAGELLAN: An Integrated Adaptive Architecture for Mobile Robotics
Abstract
In this paper we describe MAGELLAN, an integrated architecture for mobile robotics. The system represents its spatial knowledge in terms of a topological network that connects a set of distinct places, each represented by evidence grids that contain probabilistic descriptions of occupancy. MAGELLAN includes a module for place recognition that determines its initial location and when it has reached a goal, a module for continuous localization that maintains accurate estimates of the robot's position, and a module for navigation that generates path plans and executes them using reactive behaviors. Experiments in two laboratories with different characteristics suggest that the system can operate robustly across a range of environments, including ones that involve dynamic changes.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1998
- Accession Number
- ADA343712
Entities
People
- Alan C. Schultz
- Brian Yamauchi
- John Grefenstette
- Pat Langley
- William Adams