References for the talk "Spatial Representations for Mobile Robot Navigation"
(articles from Artificial Intelligence can be downloaded here:
http://www.compsciweb.com/compsciweb/show/Index.htt?Issn=00043702 (only from
computers that are part of the university network)


Spatial representations for mobile robots in general:

Gregory Dudek, Michael Jenkin (2000) Computational principles of mobile robotics,
Cambridge University Press.


Spatial decompositions / Occupancy Grids:

Sebastian Thrun (1998) Learning Metric-Topological Maps for Indoor Mobile Robot Navigation,
in Artificial Intelligence, Volume 99, Pages 21-71.

Wolfram Burgard, Armin B. Cremers, Dieter Fox, Dirk Hähnel, Gerhard Lakemeyer, Dirk Schulz,
Walter Steiner, and Sebastian Thrun (1999) Experiences with an interactive museum tour-guide
robot, in Artificial Intelligence, Volume 114, Pages 3-55.

A. Elfes (1989) Using Occupancy Grids for Mobile Robot Perception and Navigation,
in Computer, Volume 22, Number 6, Pages 47-57.

H. Moravec, A. Elfes (1985) High Resolution Maps from Angle Sonar, in Proceedings of
the IEEE Conference on Robotics and Automation, p. 116-121


Geometric representations / Scan matching:

Jens-Steffen Gutmann (2000) Robuste Navigation autonomer mobiler Systeme, Universität
Freiburg, Dissertation.

F. Lu, E. Milios (1994) Robot Pose Estimation in Unknown Environments by Matching 2D Scans,
in IEEE Computer Vision and Pattern Recognition Conference (CVPR), p. 935-938.

F. Lu, E. Milios (1997) Globally Consistent Range Scan Alignment for Environment Mapping, in
Autonomous Robots, Volume 4, Number 4, p. 333-349.


Examples of topological representations:

Howie Choset, Ilhan Konukseven Joel Burdick (1996) Mobile robot navigation: issues in
implementing the generalized Voronoi graph in the plane, in Proceedins of IEEE/SICE/RSJ
International Conference on Multisensor Fusion and Integration for Intelligent Systems,
Pages 241-248.

Benjamin J. Kuipers, Yung-Tai Byun (1988) A robust, qualitative method for robot spatial
learning, in Proceedings of Seventh National Conference on Artificial Intelligence,
p. 774-779.

D. Kortenkamp, T. Weymouth, E. Chown, S. Kaplan (1992) A scene-based, multi-level
representation for mobile robot spatial mapping and navigation, Technical Report
CSE-TR-119-92, Computer Science and Engineeering Division, University of Michigan.


Examples of hybrid approaches:

Sebastian Thrun (1998) Learning Metric-Topological Maps for Indoor Mobile Robot Navigation,
in Artificial Intelligence, Volume 99, Pages 21-71.

Wai K. Yeap, Margaret E. Jefferies (1999) Computing a representation of the local environment,
in Artificial Intelligence, Volume 107, p. 265-301.

B. Kuipers (2000) The Spatial Semantic Hierarchy, in Artificial Intelligence, Volume 119,
p. 191-233.

J. Gasós and A. Saffiotti (1999) Integrating Fuzzy Geometric Maps and Topological Maps
for Robot Navigation, in Proc. of the 3rd Int. Symposium on Soft Computing (SOCO). Genova, IT.

Sebastian Thrun, Jens-Steffen Gutmann, Dieter Fox, Wolfram Burgard, Benjamin J. Kuipers (1998)
Integrating topological and metric maps for mobile robot navigation: a statistical approach,
in Proceedings Fifteenth National Conference on Artificial Intelligence (AAAI-98), p. 989-995.

B. Schölkopf and H. A. Mallot (1995) View-based cognitive mapping and path planning,
in Adaptive Behavior, Volume 3, p. 311-348.