A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments
Navigation in multi-floor, multi-building environments is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/139106 |