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Forgetting and Fatigue in Mobile Robot Navigation

Luís CorreiaAntónio Abreu

This paper presents an enhancement of autonomous robot navigation behaviour by incorporating models of fatigue and forgetting. These models are inspired in ethology concepts. The robot maintains itself in a limited range of safe landmarks and sets out to explore new areas or to revisit places in the map where it has not been for some time. Places not visited for too long are forgotten. With this model, navigation is possible in dynamic environments and even when the robot is displaced by external means. Experimental results in a simulated robot support the proposed model.

http://springerlink.metapress.com/content/j3rjl51918bjffr1/?p=a7e6524c664448e48a1d2e5c77c28c11&p

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