No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs
Claire Liang,Ross A. Knepper,Florian T. Pokorny,Claire Liang,Ross A. Knepper,Florian T. Pokorny
Robot navigation in human spaces today largely relies on the construction of precise geometric maps and a global motion plan. In this work, we navigate with only local sensing by using available signage - as designed for humans - in human-made environments such as airports. We propose a formalization of "signage" and define 4 levels of signage that we call complete, fully-specified, consistent and...
