# Qualitative Relational Navigation using Minimal Sensing (NSF)

PI:

Mark Campbell

Funding:

NSF IIS-1320490

Active Dates:

2013-2016

People:

Goal:

The goal of this research is to develop a navigation methodology for robots using relational geometric models that are constructed and evaluated using minimal sensing.

Tasks:

1. Sensing, Representations and Map Formulation: we formally define qualitative sensing, along with the underlying mathematical representations and operators to develop qualitative relative maps.

2. Considering Uncertainties: we expand sensing and mapping to include probabilistic uncertainties in the sensor likelihoods and estimation approaches.

3. Navigation: we develop a sampling based approach to navigation that intimately builds on the qualitative state representation.

4. Experimental Validation: we seek to evaluate the maturity of the proposed algorithms via an increasingly complex set of experimental validation tests using two testbeds in the PI’s lab.