English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Representing a scanned map of the real environment as a topological structureis an important research in robotics. %is currently an important research.Since topological representations of maps save a huge amount of map storagespace and online computing time, they are widely used in fields such as pathplanning, map matching, and semantic mapping. We propose a novel topologicalmap representation, the Area Graph, in which the vertices represent areas andedges represent passages. The Area Graph is developed from a pruned VoronoiGraph, the Topology Graph. The paper also presents path planning as oneapplication for the Area Graph. For that, we derive a so-called Passage Graphfrom the Area Graph. Because our algorithm segments the map as a set of areas,the first experiment compares the results of the Area Graph with that ofstate-of-the-art segmentation approaches, which proved that our methodeffectively prevented over-segmentation. Then the second experiment shows thesuperiority of our method over the traditional A* planning algorithm.

Topological Area Graph Generation and its Application to Path Planning