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The Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot Published online by Cambridge University Press: 05 March 2012
Figures B.I to B.8 show the test environments for the exploration experiments. Two figures are given for each environment. The first diagram shows the walls and objects in the environment. It also shows the positions and orientations from which exploration experiments were started. The second diagram for shows the ‘ideal’ free-space map which would result from complete knowledge of the objects in the environment.
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