A Qualitative Approach to Localization and Navigation Based on Visibility Information

  • Paolo Fogliaroni
  • Jan Oliver Wallgrün
  • Eliseo Clementini
  • Francesco Tarquini
  • Diedrich Wolter
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5756)


In this paper we describe a model for navigation of an autonomous agent in which localization, path planning, and locomotion is performed in a qualitative manner instead of relying on exact coordinates. Our approach is grounded in a decomposition of navigable space based on a novel model of visibility and occlusion relations between extended objects for agents with very limited sensor abilities. A graph representation reflecting the adjacency between the regions of the decomposition is used as a topological map of the environment. The visibility-based representation can be constructed autonomously by the agent and navigation can be performed by simple reactive navigation behaviors. Moreover, the representation is well-qualified to be shared between multiple agents.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Paolo Fogliaroni
    • 1
  • Jan Oliver Wallgrün
    • 1
  • Eliseo Clementini
    • 2
  • Francesco Tarquini
    • 2
  • Diedrich Wolter
    • 1
  1. 1.Department of Mathematics and InformaticsUniversität BremenBremenGermany
  2. 2.Department of Electrical EngineeringUniversity of L’AquilaPoggio di Roio (AQ)Italy

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