Dharshan Bashkaran Latha

Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control Using Graphs of Scan Regions

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments. Hybrid metric-topological maps, constructed as a pose graph of lo