A Unified Paradigm for Autonomous Localization and Mapping

Stephen C. Quebe and Robert P. Burton

Abstract:	Multiple algorithms have been developed that enable robots to navigate autonomously. Each algorithm has advantages and limitations. Different navigation algorithms are better suited to different operating environments. Each algorithm provides varying degrees of control and navigational accuracy. A robot that is able to use an appropriate navigation paradigm for its current situation is better equipped for autonomous operation in diverse environments. We describe a theoretical framework that permits a single robot to use multiple navigation and control algorithms in a unified and flexible way. We also describe an experiment that uses this framework to enable a robot to navigate using two navigation systems: a GPS-like external system when available and an on-board stereo vision system with when the external system is not available.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3628 - 3633
Cite this article:	Quebe, Stephen C., Burton, Robert P., "A Unified Paradigm for Autonomous Localization and Mapping," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 3628-3633.
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