PhD thesis

A Multiagent Approach to Qualitative Navigation in Robotics

Submitted by Dídac Busquets i Font to obtain the degree of Doctor in Computer Science

Supervisors: Dr. Ramon López de Màntaras i Badia (IIIA-CSIC) and Dr. Carles Sierra i Garcia (IIIA-CSIC)

Tutor: Dr. Mario Martín i Muñoz (LSI-UPC)

Institut
d'Investigació
en Intel.ligència
Artificial
Image logoIIIA $\includegraphics[height=2cm]{figures/logoCSIC}$
Consejo
Superior
de Investigaciones
Científicas Image mylsilogo

Acknowledgments
Abstract
Resum
Introduction
Related Work and State-of-the-art
- Control Architectures
- Mapping and Navigation
  - Localization
    - Model matching localization
    - Landmark-based localization
  - Map Representation
    - Grid-based mapping
    - Topological mapping
Mapping and Navigation
The Robot Architecture
Simulation Results
Real Experiments
Conclusions and Future Work
Bibliography
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