Landmark-Based Autonomous Navigation in Sewerage Pipes (1996)
| Venue: | In Proc. of the First Euromicro Workshop on Advanced Mobile Robots. IEEE Computer |
| Citations: | 29 - 4 self |
BibTeX
@INPROCEEDINGS{Hertzberg96landmark-basedautonomous,
author = {Joachim Hertzberg and Frank Kirchner},
title = {Landmark-Based Autonomous Navigation in Sewerage Pipes},
booktitle = {In Proc. of the First Euromicro Workshop on Advanced Mobile Robots. IEEE Computer},
year = {1996},
pages = {68--73},
publisher = {Society Press}
}
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Abstract
We describe a method for an autonomous mobile robot to navigate through a system of sewerage pipes. Landmarks signalling positions in the pipe system have to be detected and classified, where classification is allowed to be unreliable. Self localization is interpreted as a partially observable Markov decision problem and solved accordingly. The method is implemented and used on a prototype robot platform operating in a dry sewage pipe test network. 1 The problem Today, German cities and towns have considerable problems to run the public sewerage system both environmentally safely and at low cost. Much effort must be taken to maintain the system, which includes inspection and local repair. It has been suggested to improve the situation by using robots that work autonomously in inaccessible parts of the system. The background of this paper is our participation in an attempt to explore the feasibility of this suggestion---the feasibility study LAOKOON 1 . One of the many problems in bu...
Citations
| 231 | Probabilistic robot navigation in partially observable environments - Simmons, Koenig - 1995 |
| 152 | Dervish: An office-navigating robot - Nourbakhsh, Powers, et al. - 1995 |
| 21 | A Prototype Study of an Autonomous Robot Platform for Sewerage System Maintenance - Kirchner, Hertzberg - 1997 |
| 3 | Partially observable markov decision problems for artificial intelligence - Kaelbling, Littman, et al. - 1995 |
| 3 | Feature discovery by competetive learning - Rumelhart, Zipser - 1985 |
| 2 | Probabilistic navigation for topological maps - LOLA - 1996 |
