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    • A split & merge approach to metric-topological map-building

      Schmidt, J.; Wong, C.; Yeap, W. (IEEE, 2006)
      We present a novel split and merge based method for dividing a given metric map into distinct regions, thus effectively creating a topological map on top of a metric one. The initial metric map is obtained from range data ...
    • Computing a network of ASRs using a mobile robot equipped with sonar sensors

      Wong, C.; Yeap, W.; Schmidt, J. (IEEE, 2006)
      This paper presents a novel algorithm for computing absolute space representations (ASRs) [1]-[2] for mobile robots equipped with sonar sensors and an odometer. The robot is allowed to wander freely (i.e. without following ...
    • Spatial information extraction for cognitive mapping with a mobile robot

      Schmidt, J.; Wong, C.; Yeap, W. (Springer, 2007)
      When animals (including humans) first explore a new environment, what they remember is fragmentary knowledge about the places visited. Yet, they have to use such fragmentary knowledge to find their way home. Humans naturally ...
    • Using a mobile robot to test a theory of cognitive mapping

      Yeap, W.; Wong, C.; Schmidt, J. (Springer, 2008)
      This paper describes using a mobile robot, equipped with some sonar sensors and an odometer, to test navigation through the use of a cognitive map. The robot explores an office environment, computes a cognitive map, which ...