A unified formalism for landmark based representation of maps and navigation plans

We present a unified formalism for representing maps and using them for constructing plans of navigation for an autonomous agent. The foundation of this work lies in addressing key questions that an agent is confronted with when navigating. That is, besides the main task of how to reach the intended destination from the current position, the agent faces other questions like: where am I? what landmarks can I see? where is my destination relative to me and the landmarks I am seeing? Fundamental to this representation is the use of visual landmarks, which are used as pivotal points in the landscape being described. Further, in the representation of spatial information and navigation there are three different viewpoints: first, the localized representation from the viewpoint of a sighted, mobile agent; second, the static representation seen by the map-maker; and third, the view of an external agent giving directions on the basis of his own experience/knowledge. The major contribution of this map model and the associated navigation method lies in the framework which unifies these three different points of view. This unification enables the agent to make no distinction in terms of following implicit instructions contained in a map and the directions given by external agents.

Insect based navigation and its applications to the autonomous control of mobile robots

Giving robots the ability to autonomously move around in various real-world environments has been a major goal of AI (artificial intelligence) for quite some time. To this end it is vital for robots to be able to perceive their surroundings in 3D; they must be able to estimate the range of obstacles in their path.

Animals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile and hazardous environments.

In this paper it is shown that very simple motion cues, inspired by the visual navigation of flying insects, can be used to provide a mobile robot with the ability to successfully traverse a corridor environment. Equipping an autonomous mobile robot with the ability to successfully navigate real-word environments (in real-time) constitutes a major challenge for AI and robotics. It is in this area that insect based navigation has something to offer.

Navigation by green turtles: which strategy do displaced adults use to find Ascension Island?

Sea turtles are known to perform long-distance, oceanic migrations between disparate feeding areas and breeding sites, some of them located on isolated oceanic islands. These migrations demonstrate impressive navigational abilities, but the sensory mechanisms used are still largely unknown. Green turtles breeding at Ascension Island perform long oceanic migrations (>2200 km) between foraging areas along the Brazilian coast and the isolated island. By performing displacement experiments of female green turtles tracked by satellite telemetry in the waters around Ascension Island we investigated which strategies most probably are used by the turtles in locating the island. In the present paper we analysed the search trajectories in relation to alternative navigation strategies including the use of global geomagnetic cues, ocean currents, celestial cues and wind. The results suggest that the turtles did not use chemical information transported with ocean currents. Neither did the results indicate that the turtles use true bi-coordinate geomagnetic navigation nor did they use indirect navigation with respect to any of the available magnetic gradients (total field intensity, horizontal field intensity, vertical field intensity, inclination and declination) or celestial cues. The female green turtles successfully locating Ascension Island seemed to use a combination of searching followed by beaconing, since they searched for sensory contact with the island until they reached positions NW and N of the Island and from there presumably used cues transported by wind to locate the island during the final stages of the search.

Oceanic long-distance navigation : do experienced migrants use the earth's magnetic field?

Albatrosses and sea turtles are known to perform extremely long-distance journeys between disparate feeding areas and breeding sites located on small, isolated, oceanic islands or at specific coastal sites. These oceanic journeys, performed mainly over or through apparently featureless mediums, indicate impressive navigational abilities, and the sensory mechanisms used are still largely unknown. This research used three different approaches to investigate whether bi-coordinate navigation based on magnetic field gradients is likely to explain the navigational performance of wandering albatrosses in the South Atlantic and Indian Oceans and of green turtles breeding on Ascension Island in the South Atlantic Ocean. The possibility that magnetic field parameters can potentially be used in a bi-coordinate magnetic map by wandering albatrosses in their foraging area was investigated by analysing satellite telemetry data published in the literature. The possibilities for using bi-coordinate magnetic navigation varied widely between different areas of the Southern Oceans, indicating that a common mechanism, based on a bi-coordinate geomagnetic map alone, was unlikely for navigation in these areas. In the second approach, satellite telemetry was used to investigate whether Ascension Island green turtles use magnetic information for navigation during migration from their breeding island to foraging areas in Brazilian coastal waters. Disturbing magnets were applied to the heads and carapaces of the turtles, but these appeared to have little effect on their ability to navigate. The only possible effect observed was that some of the turtles with magnets attached were heading for foraging areas slightly south of the control turtles along the Brazilian coast. In the third approach, breeding female green turtles were deliberately displaced in the waters around Ascension Island to investigate which cues these turtles might use to locate and return to the island; the results suggested that cues transported by wind might be involved in the final stages of navigation.