Emilio Remolina and Benjamin Kuipers. 2004.

**Towards a general theory of topological maps**.

*Artificial Intelligence* **152**: 47-104, 2004.

#### Abstract

We present a general theory of topological maps whereby sensory input,
topological and local metrical information are combined to define the
topological maps explaining such information. Topological maps
correspond to the minimal models of an axiomatic theory describing the
relationships between the different sources of information explained
by a map. We use a circumscriptive theory to specify the minimal
models associated with this representation.
The theory here proposed is independent of the exploration strategy
the agent follows when building a map. We provide an algorithm to
calculate the models of the theory. This algorithm supports different
exploration strategies and facilitates map disambiguation when
perceptual aliasing arises.

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