抄録
This paper introduces a map management system in Town Management System (TMS), which is a data management system of a structured environment for a service robot. TMS has been being developed in "Robot Town Project" (NEXT) and "Intelligent RT Software Project" (METI/NEDO) for years as a key technology for managing a structured environment. TMS consists of a database for storing and extracting a variety of environmental information and a software library for data access. In this paper, we introduce some new functions which we appended to TMS to strengthen the map management function so that it processes metric and topological maps efficiently for a service robot.
