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dc.contributor.authorMirats Tur, Josep Maria
dc.contributor.authorZinggerling, Claudio
dc.contributor.authorCorominas Murtra, Andreu
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationMirats, J.; Zinggerling, C.; Corominas, A. GIS map based mobile robot navigation in urban environments. A: International Conference on Advanced Robotics. "The 14th. International Conference on Advanced Robotics". Munich: ___, 2009, p. 1-6.
dc.description.abstractMobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing GIS map for robot navigation in urban scenarios. A centralized GIS map server architecture is presented to which a robot or team of robots can connect by using a developed communication protocol. The system is scalable to large environments and large groups of robots. Furthermore it demonstrates the possibility for a robot to accurately navigate by using an already existing map which has not been constructed using the robot own sensors. Details of the implemented system architecture as well as a position tracking experiment in a real outdoor environment, a University Campus, are provided.
dc.format.extent6 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots Motion
dc.titleGIS map based mobile robot navigation in urban environments
dc.typeConference report
dc.subject.lemacRobots mòbils
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorMirats, J.; Zinggerling, C.; Corominas, A.
local.citation.contributorInternational Conference on Advanced Robotics
local.citation.publicationNameThe 14th. International Conference on Advanced Robotics

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