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dc.contributorEscuela de Ingenierias Industrial e Informaticaes_ES
dc.contributor.authorMatellán Olivera, Vicente 
dc.contributor.authorCañas, José María
dc.contributor.otherArquitectura y Tecnologia de Computadoreses_ES
dc.date2006-05-25
dc.date.accessioned2012-11-09T11:07:15Z
dc.date.available2012-11-09T11:07:15Z
dc.date.issued2012-11-09
dc.identifier.citationMathware and Soft Computing Journal, 2006, vol. XIII, n. 1es_ES
dc.identifier.urihttp://hdl.handle.net/10612/1994
dc.descriptionP. 5-22es_ES
dc.description.abstractMobile robots need to represent obstacles in their surroundings, even moving ones, to make right movement decisions. For higher autonomy the robot should automatically build such representation from its sensory input. This paper compares the dynamic character of several gridmap building techniques: probabilistic, fuzzy, theory of evidence and histogramic. Two criteria are defined to rank such dynamism in the representation: time to show a new obstacle and time to show a new hole. The update rules for first three such techniques hold associative property which confers them static character, inconvenient for dynamic environments. Major contribution of this paper is the introduction of two new approaches are presented to improve the perception of mobile obstacles: one uses a differential equation to update the map and another uses majority voting in a limited memory per cell. Their dynamisms are also evaluated and the results presentedes_ES
dc.languageenges_ES
dc.publisherEuropean Society for Fuzzy Logic and Technologyes_ES
dc.subjectInformáticaes_ES
dc.subject.otherCuadrículas dinámicases_ES
dc.subject.otherRobots móvileses_ES
dc.titleDynamic gridmaps: comparing building techniqueses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.description.peerreviewedSIes_ES
dc.rights.accessRightsinfo:eu-repo/semantics/openAccesses_ES


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