Cognitive Approach to Robot Spatial Mapping

One of the major issues in Robotics or more precisely in Intelligent Systems in current research and innovation is self awareness. The world of innovation in Robotics has been developing autonomous robots with the ability to reason, learn and accomplish basic tasks. Self mapping is one of these abilities and it is very crucial to any physical agent that claims to be aware of its environment. To validate this claim, many approaches are being used, the most successful of which are cognitive approaches. Part of this document discusses these approaches together with their applications in robot mapping. Further, it proposes a new cognitive approach to solve the mapping problem. Based on the concept of an occupancy grid, the proposed solution appears to be a valid and efficient solution to the problem. In fact, we demonstrate in this report the results achieved by implementing this approach to solve the mapping problem in an indoor environment.