A framework is presented for autonomous robots that reason from range data. The authors argue for spatial reasoning as a basic recognition mode for robots operating in unpredictable work environments and present a three-level architecture for modeling and planning from range data. Two implementations, robotic excavation with sonar ranging and mine navigation with laser ranging, illustrate the techniques and provide two experiences to evaluate the architecture.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||7|
|State||Published - 1987|
ASJC Scopus subject areas