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Next step in robot navigation is mapping.

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Now, what exactly is mapping?

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Now Epic essentially is representing the environment, which in our case is the image of a mars in the

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form of a traversable map.

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In robot navigation, this becomes the second most important requirement of the localization, because

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without the knowledge of the maze, the robot is essentially blind.

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Also.

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How often do we need to update the map?

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Depends on the environment characteristics, whether it was static or dynamic.

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Now let us discuss the different types of mapping.

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So there are two types.

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Starting with the first time that is known as great mapping.

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In good mapping.

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The environment is represented by specific coordinates for each area.

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For example, in Google Maps, each location is represented by its precise coordinates.

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The next stop is known as topological.

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Here instead of representing every region, only the region of interest and the relationship is taught.

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For example, in Metro Map, only the metro stations and their distances are shown.

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Now reachable mech mapping.

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Will you require?

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It depends on your case.

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What exactly is our case?

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Now we have the complete means in view and it is static, meaning the mapping needs to be done only

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once.

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A few assumptions that we need to make is that we only consider museums that have one star.

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And one exit.

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Our math can have multiple past was the exit, but the balls are non reversible, meaning they can not

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be passed through.

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So the goal for our kids is that we first convert the image.

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Into an occupancy which represents the region which could be passed through or could not.

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Now we could stop here, but this would mean a lot of redundant regions.

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Instead we go ahead and perform topological mapping and extract the graph from those occupancy grade.

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This graph only contained the region of interest and the distances between each connected bit of region

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of interest.

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Now.

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Let's do that.