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학술지 A Standard for Map Data Representation: IEEE 1873-2015 Facilitates Interoperability Between Robots
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저자
Francesco Amigoni, 유원필, Torsten Andre, Dirk Holz, Martin Magnusson, Matteo Matteucci, 문형필, Masashi Yokotsuka, Geoffrey Biggs, Raj Madhavan
발행일
201803
출처
IEEE Robotics & Automation Magazine, v.25 no.1, pp.65-76
ISSN
1070-9932
출판사
IEEE
DOI
https://dx.doi.org/10.1109/MRA.2017.2746179
협약과제
14PC3100, 실외환경에 강인한 도로기반 저가형 자율주행 기술 개발, 유원필
초록
The availability of environment maps for autonomous robots enables them to complete several tasks. A new IEEE standard, IEEE 1873-2015, Robot Map Data Representation for Navigation (MDR) [15], sponsored by the IEEE Robotics and Automation Society (RAS) and approved by the IEEE Standards Association Standards Board in September 2015, defines a common representation for two-dimensional (2-D) robot maps and is intended to facilitate interoperability among navigating robots. The standard defines an extensible markup language (XML) data format for exchanging maps between different systems. This article illustrates how metric maps, topological maps, and their combinations can be represented according to the standard.
KSP 제안 키워드
Autonomous robot, Data representation, Environment map, Extensible markup language(XML), IEEE standards, Robot maps, Robotics and automation, data format, topological map, two-dimensional(2D)