Making a Map-making Robot: Using the IKAROS System to Implement the Occupancy Grid Algorithm.

This paper describes an implementation of the occu-pancy grid algorithm, one of the most popular algo-rithms for robotic mapping. The algorithm is imple-mented on a robot setup at Lund University Cogni-tive Science (LUCS), and a number of experiments are conducted where the algorithm is exposed to different kinds of noise. The outcome show that the algorithm performs well given its parameters are tuned right. The conclusion is made that, in spite of its limita-tions, the occupancy grid map algorithm is a robust algorithm that works well in practice.