An Exploration Strategy for Simultaneous Localization and Mapping in Large Environments

Itpsilas preferred that a hierarchical map is adopted to describe large environments, as seen in the literatures about the hierarchical simultaneous localization and mapping (HSLAM). With an automaton map at the upper layer and a set of feature-based maps at the lower layer, both macro and micro localization are realized. A novel exploration strategy which guides and supervises the mapping progress based on supervisory control of discrete event systems is proposed. Itpsilas embodied in the system and implemented as a supervisor which permits some desired actions to occur and prohibits undesired actions.