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In this Chapter, I approach robot mapping from an algorithmic perspective. I argue for a functional perspective on robot mapping and provide a decomposition of it into distinct subtasks. I review approaches with respect to the individual subtasks. Methods addressing these subtasks are algorithms that operate on the underlying map representation. In my review, I acknowledge the conclusions drawn from my review of map representations by focusing the presentation on methods that are suitable for handling a representation of the boundary of navigable space.
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© 2008 Springer-Verlag Berlin Heidelberg
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Wolter, D. (2008). A Functional Analysis of Robot Mapping. In: Spatial Representation and Reasoning for Robot Mapping. Springer Tracts in Advanced Robotics, vol 48. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69012-2_3
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DOI: https://doi.org/10.1007/978-3-540-69012-2_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69011-5
Online ISBN: 978-3-540-69012-2
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