Author: John J. Leonard and Hugh F. Durrant-Whyte
Abstract: This work investigates the problem of mobile robot navigation using sonar. We view model-based navigation as a process of tracking naturally occurring environment features, which we refer to as "targets". Targets that have been predicted from the environment map are tracked to provide vehicle position estimates. Targets that are observed, but not predicted, represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map.
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