Localization and Mapping in Large Environments Using Ultrasonic Sensors
ATHRAIA (Advanced Three-layer Hybrid Robot Architecture for Intelligent Autonomy ) is a hybrid three-layer SLAM oriented robot control architecture organized in the three standard layers (Planning, Coordination and Behavior) and one World Modeller. It is able to guide a mobile robot safely through the environment, planning the paths to accomplish the mission, while building both topological and metric maps and correcting the errors in the robot position estimation.These tasks are performed without previous information about the environment or the robot position. SEFIRoT (Simulation Environment For Intelligent Robot Testing) is a graphical simulation environment for mobile robot and control architecture testing. Through this tool the user can change the simulation parameters easily, even during the simulation, and to see results through graphical items at any moment. The information to be displayed can be selected through the GUI, being the user able to concentrate on specific aspects of the simulation.
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Towards Mapping and Localization in Large Environments Using Ultrasonic Sensors
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