<title>Exploiting known topologies to navigate with low-computation sensing</title>

Abstract

Exploiting prior knowledge about the general characteristics of an environment can reduce the amount of sensing required. For example, in an indoor environment floors tend to be flat and walls tend to be straight and static. In such an environment, simple range sensors can provide enough information to support robust sensor-driven goal-directed navigation. This paper will describe a navigation experiment using a real robot, and speculate on how the techniques used can be extended to other domains.