Abstract
This paper presents an exploration algorithm for partially or totally unknown environrnents. The method is based on a representation that integrates metric and topological pazadigms. The metric paradigm produces an accurate representation of the environrent. The topological map is built over the metric map by means of a hierarchical structure. It reduces the metric data volume and can be processed in a more efficient way. The representation of the environrent is used to calculate a route through unexplored areas. The main advantage of the proposed scheme is that it can operate in known and urdmown areas in a fast and efficient way.
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