Map-Making with a Four-Legged Mobile Robot

Benjamin H Willard, Kurt D. Krebsbach

Most approaches to map-making with an autonomous mobile robot rely on a set of standard tools, such as laser range finders, sonar arrays, precise shaft encoders, or GPS uplinks. While it is difficult to construct a map without such tools, there is still utility in endowing low-cost, legged robots with map-making capabilities in order to exploit their unique advantages. This paper describes an attempt to construct a recognizable map of an indoor hallway environment with a Sony ERS-7 AIBO outfitted with suboptimal mapping components.

Subjects: 17. Robotics; 3.2 Geometric Or Spatial Reasoning

Submitted: Jan 26, 2007


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