@COMMENT This file was generated by bib2html.pl <https://sourceforge.net/projects/bib2html/> version 0.94
@COMMENT written by Patrick Riley <http://sourceforge.net/users/patstg/>
@COMMENT This file came from Patrick Beeson's publication pages at
@COMMENT http://personal.traclabs.com/~pbeeson/publications
@Article{Beeson-ijrr-10,
  author =	 {Patrick Beeson and Joseph Modayil and Benjamin
                  Kuipers},
  title =	 {Factoring the mapping problem: Mobile robot
                  map-building in the {Hybrid Spatial Semantic
                  Hierarchy}},
  journal =	 {International Journal of Robotics Research},
  year =	 2010,
  volume =	 29,
  number =	 4,
  month =	 April,
  pages =	 {428--459},
  abstract =	 {We propose a factored approach to mobile robot
                  map-building that handles qualitatively different
                  types of uncertainty by combining the strengths of
                  topological and metrical approaches. Our framework
                  is based on a computational model of the human
                  cognitive map; thus it allows robust navigation and
                  communication within several different spatial
                  ontologies. This paper focuses exclusively on the
                  issue of map-building using the framework. Our
                  approach factors the mapping problem into natural
                  sub-goals: building a metrical representation for
                  local small-scale spaces; finding a topological map
                  that represents the qualitative structure of
                  large-scale space; and (when necessary) constructing
                  a metrical representation for large-scale space
                  using the skeleton provided by the topological
                  map. We describe how to abstract a symbolic
                  description of the robot's immediate surround from
                  local metrical models, how to combine these local
                  symbolic models in order to build global symbolic
                  models, and how to create a globally consistent
                  metrical map from a topological skeleton by
                  connecting local frames of reference.},
  url =		 {http://dx.doi.org/10.1177/0278364909100586},
  wwwnote =	 {Local download is a pre-print version.  Final
                  version can be found <a
                  href="http://dx.doi.org/10.1177/0278364909100586">
                  here</a>.},
  bib2html_extra_info ={Local download is a pre-print version.  Final
                  version can be found <a
                  href="http://dx.doi.org/10.1177/0278364909100586">
                  here</a>.},
  bib2html_pubtype ={Journal},
  bib2html_rescat ={Topological/Hybrid Map-Building},
}