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Adaptive Automata for Mobile Robotic Mapping

Robotic mapping deals with the question of building abstract representation of the physical environment around a mobile robot and it is one the most important features of a truly autonomous mobile robot. This work presents an adaptive way to make such representation without a priori knowledge of the environment. Starting with a small net and through simple reconfiguration rules, this net is expanded by acquiring the map of the place while the robot travels. The initial configuration contains free marks, which are replaced with information acquired by the sensors. This paper also presents an adaptive algorithm for exploring motion.