Augmenting Topology-Based Maps with Geometric Information
E. Fabrizi and A. Saffiotti
Topology-based maps are a new representation of the workspace of a mobile
robot, which capture the structure of the free space in the environment in
terms of the basic topological notions of connectivity and adjacency. A
topology-based map can represent the environment in terms of open spaces
(rooms and corridors) connected by narrow passages (doors and junctions).
In this paper, we show how to enrich a topology-based map with geometric
information useful for the generation and execution of navigation plans.
Both the topology-based map and its geometric information are
automatically extracted from sensor data. We illustrate the use of
topology-based maps for planned behavior-based navigation on a real robot.