| LDR | | 00000nmm u2200205 4500 |
| 001 | | 000000330783 |
| 005 | | 20241104161741 |
| 008 | | 181129s2018 ||| | | | eng d |
| 020 | |
▼a 9780438125360 |
| 035 | |
▼a (MiAaPQ)AAI10902929 |
| 035 | |
▼a (MiAaPQ)umichrackham:001143 |
| 040 | |
▼a MiAaPQ
▼c MiAaPQ
▼d 248032 |
| 049 | 1 |
▼f DP |
| 082 | 0 |
▼a 004 |
| 100 | 1 |
▼a Johnson, Collin Eugene. |
| 245 | 10 |
▼a Topological Mapping and Navigation in Real-World Environments. |
| 260 | |
▼a [S.l.] :
▼b University of Michigan.,
▼c 2018 |
| 260 | 1 |
▼a Ann Arbor :
▼b ProQuest Dissertations & Theses,
▼c 2018 |
| 300 | |
▼a 164 p. |
| 500 | |
▼a Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B. |
| 500 | |
▼a Adviser: Benjamin Kuipers. |
| 502 | 1 |
▼a Thesis (Ph.D.)--University of Michigan, 2018. |
| 520 | |
▼a We introduce the Hierarchical Hybrid Spatial Semantic Hierarchy (H 2SSH), a hybrid topological-metric map representation. The H2SSH provides a more scalable representation of both small and large structures in the world than existing topological |
| 520 | |
▼a Constructing an H2SSH map of the environment requires understanding both its local and global structure. We present a place detection and classification algorithm to create a semantic map representation that parses the free space in the local en |
| 520 | |
▼a For navigation, we have integrated the H2SSH with Model Predictive Equilibrium Point Control (MPEPC) to provide safe and efficient motion planning for our robotic wheelchair, Vulcan. However, navigation in human environments entails more than sa |
| 590 | |
▼a School code: 0127. |
| 650 | 4 |
▼a Computer science. |
| 650 | 4 |
▼a Robotics. |
| 690 | |
▼a 0984 |
| 690 | |
▼a 0771 |
| 710 | 20 |
▼a University of Michigan.
▼b Computer Science & Engineering. |
| 773 | 0 |
▼t Dissertation Abstracts International
▼g 79-12B(E). |
| 773 | |
▼t Dissertation Abstract International |
| 790 | |
▼a 0127 |
| 791 | |
▼a Ph.D. |
| 792 | |
▼a 2018 |
| 793 | |
▼a English |
| 856 | 40 |
▼u http://www.riss.kr/pdu/ddodLink.do?id=T15000440
▼n KERIS |
| 980 | |
▼a 201812
▼f 2019 |
| 990 | |
▼a 관리자
▼b 관리자 |