# name
Robotic Exploration: Place Recognition as a Tipicality Problem

# metadata.dc.description.abstract[].value
Autonomous exploration is one of the main challenges of robotic researchers. Exploration
requires navigation capabilities in unknown environments and hence, the robots should
be endowed not only with safe moving algorithms but also with the ability to recognise
visited places. Frequently, the aim of indoor exploration is to obtain the map of the robot’s
environment, i.e. the mapping process. Not having an automatic mapping mechanism
represents a big burden for the designer of the map because the perception of robots and
humans differs significantly from each other. In addition, the loop-closing problem must be
addressed, i.e. correspondences among already visited places must be identified during the
mapping process.
In this chapter, a recent method for topological map acquisition is presented. The nodes
within the obtained topologicalmap do not represent single locations but contain information
about areas of the environment. Each time sensor measurements identify a set of landmarks
that characterise a location, the method must decide whether or not it is the first time the
robot visits that location. From a statistical point of view, the problem we are concerned
with is the typicality problem, i.e. the identification of new classes in a general classification
context. We addressed the problem using the so-called INCA statistic which allows one to
perform a typicality test (Irigoien & Arenas, 2008). In this approach, the analysis is based on
the distances between each pair of units. This approach can be complementary to the more
traditional approach units × measurements – or features – and offers some advantages over
it. For instance, an important advantage is that once an appropriate distance metric between
units is defined, the distance- based method can be applied regardless of the type of data or
the underlying probability distribution.

# metadata.dc.relation.isformatof[].value
Reprodució del document publicat a: 10.5772/26330

# metadata.dc.source[].value
Llibres / Capítols de llibre (Genètica, Microbiologia i Estadística)

# metadata.dc.title[].value
Robotic Exploration: Place Recognition as a Tipicality Problem