A theoretical comparison of probabilistic and biomimetic models of mobile robot navigation

Julien Diard 1 Pierre Bessiere 1 Emmanuel Mazer 1
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : This paper deals with the domain of space modeling for mobile robotics. It offers a comparison of probabilistic and biomimetic models of navigation. Both approaches are shown to be quite complementary: while the probabilistic methods exploit sound theoretical grounds, they lack the modularity and, as a consequence, flexibility, of their biomimetic counterparts. We propose a new formalism, called the Bayesian Map formalism, that attempts to bridge the gap between the two domains: it is based on Bayesian modeling and inference for defining the building blocks, and uses operators for building hierarchies of models.
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Julien Diard, Pierre Bessiere, Emmanuel Mazer. A theoretical comparison of probabilistic and biomimetic models of mobile robot navigation. Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France. ⟨inria-00182051⟩

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