2 papers
cs.RO2026
osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy
Yongqi Zhang, Jiajie Zhang, Chengqian Li +2
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision.…
cs.RO2023
osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics
Delin Feng, Chengqian Li, Yongqi Zhang +2
Maps are essential to mobile robotics tasks like localization and planning. We propose the open street map (osm) XML based Area Graph file format to store hierarchical, topometric…