Global Navigation through Local Reference Frames
John Pisokas
Simulation of Adaptive Behavior 2006 (SAB 2006)
Rome, Italy, 25-29 September 2006
Summary
The contribution of this paper is that illustrates the use of funnelling actions in combination with local deictic reference frames for forming consistent and useful large scale maps. These maps do not rely on any geodetic sensors. Indications for the feasibility of such representations in humans, and other species, can be found in studies of spatial cognition. However, such implementations or applications in robotics have not been illustrated. This paper will first introduce the concept of funnelling activity and then present a theory of global mapping using only deictic references and sensors, which is consistent with neurophysiological data. The product is a reliable mapping and navigation system for robots.