Robust and Computationally Efficient Navigation in Domestic Environments

  • Dirk Holz
  • Gerhard K. Kraetzschmar
  • Erich Rome
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5949)


Presented in this paper is a complete system for robust autonomous navigation in cluttered and dynamic environments. It consists of computationally efficient approaches to the problems of simultaneous localization and mapping, path planning, and motion control, all based on a memory-efficient environment representation. These components have been implemented and integrated with additional components for human-robot interaction and object manipulation on a mobile manipulation platform for service robot applications. The resulting system performed very successfully in the 2008 RoboCup@Home competition.


Voronoi Diagram Range Image Iterative Close Point Service Robot Occupancy Grid 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Dirk Holz
    • 1
    • 2
  • Gerhard K. Kraetzschmar
    • 1
  • Erich Rome
    • 2
  1. 1.Computer Science DepartmentBonn-Rhein-Sieg University of Applied Sciences 
  2. 2.Fraunhofer Institute for Intelligent Analysis and Information Systems (IAIS) 

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