Continuous purposive sensing and motion for 2D map building

This article describes planning of sensing and motion by a mobile robot to build the map of a 2D unknown environment. The map is represented as a graph that describes the structure of the skeleton of the environment. It is incrementally built by connecting the local structure of the skeleton extracted from sensory data at each position of sensing. The motion of the robot to observe currently unknown region is first roughly planned with the graph-based global map and then precisely planned with a geometric local sensory information