NDLI: Autonomous trajectory learning using free configuration-eigenspaces

Content Provider	IEEE Xplore Digital Library
Author	Gulrez, T. Zaheer, S. Abdallah, Y.
Copyright Year	2009
Description	Author affiliation: Deaprtment of Electrical Engineering, College of Engineering and Applied Sciences, Al Ghurair University, Dubai Academic City, U.A.E. (Zaheer, S.; Abdallah, Y.) \|\| Department of Computer Engineering, College of Engineering and Applied Sciences, Al Ghurair University, Dubai Academic City, U.A.E. (Gulrez, T.)
Abstract	This paper addresses the problem of autonomous trajectory learning in unknown environments through non-point based maps directly through the laser data. Our approach to solve the problem is based upon the hypothesis that in the low-dimensional manifolds of laser scanning data, there lies an eigenvector which corresponds to the free configuration space of the high order geometric representation of the environment. The vectorial combination of all these eigen-vectors at discrete time scan-frames manifest a trajectory, and once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. We demonstrate this process in robotic simulation and applied a probabilistic machine-learning aspect to find the free area likelihood which consequently builds the trajectory leading to improved map.
Starting Page	424
Ending Page	429
File Size	1599209
Page Count	6
File Format	PDF
ISBN	9781424459490
e-ISBN	9781424459506
DOI	10.1109/ISSPIT.2009.5407553
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-14
Publisher Place	United Arab Emirates
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Mobile robots Trajectory Orbital robotics Simultaneous localization and mapping Educational institutions Cities and towns Laser theory Machine learning algorithms machine-learning Eigen-vector Free-configuration Mobile Robotics
Content Type	Text
Resource Type	Article

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