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Author: search.filters.author.Marpally, S.R.Subject: search.filters.subject.mobile robot

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    Geometrical Mapping of an Initially Unknown Region by a Mobile Robot
    (Institute of Electrical and Electronics Engineers Inc., 2019) Marpally, S.R.; Nagarakshith, M.S.; Sadananda, A.; Guruprasad, K.R.
    In this paper, we address a problem of mapping an unknown region of interest by a mobile robot. Unlike the conventional exploration and mapping techniques where the occupancy map of a spatially discretized environment is obtained, in the proposed Geometric Mapping (G-Mapping) strategy, the map is obtained in the form of geometric models of the obstacles, in a continuous space. For simplicity, we consider convex polygonal obstacles within a convex region. The proposed exploration strategy is implemented using MATLAB. The simulation results are presented to illustrate and demonstrate the G-Mapping strategy. © 2019 IEEE.