publication . Conference object . 2013

Bootstrapping navigation and path planning using human positional traces

Alen Alempijevic; Robert Fitch;
Open Access
  • Published: 22 Oct 2013
  • Publisher: IEEE
Navigating and path planning in environments with limited a priori knowledge is a fundamental challenge for mobile robots. Robots operating in human-occupied environments must also respect sociocontextual boundaries such as personal workspaces. There is a need for robots to be able to navigate in such environments without having to explore and build an intricate representation of the world. In this paper, a method for supplementing directly observed environmental information with indirect observations of occupied space is presented. The proposed approach enables the online inclusion of novel human positional traces and environment information into a probabilisti...
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