Hierarchical Simultaneous Localization and Mapping Based on Discrete Event Systems

In order to make the simultaneous localization and mapping (SLAM) algorithm universal, a novel hierarchical approach, which realizes both macro and micro localization and mapping for a kind of large environments is proposed. The map is a two-layer architecture which the upper layer is an automaton and the lower layer is a set of feature-based maps. The exploring strategy for unknown space was embodied in the system. Itpsilas described by a supervisor which permits some desired actions to occur and prohibits undesired actions. The approach proposed here has the potential ability of localizing the robot in maze like environments.