engleski

Automatic Creation of Hierarchical Maps for Indoor Environments

A new approach to automatic creation of hierarchies of abstraction of indoor environments is introduced. It is based on optimal placement of the so-called bridge nodes, which are the key points for creating the set of precalculated paths for the hierarchical path planning. The proposed hierarchy creation process guarantees consistency and is not susceptible to the environment changes. The algorithm is tested in a number of multi-room indoor environments.

hierarchical maps; path planning; automatic abstracting

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