| Abstract: |  The goal of this bachelor thesis is to create a geometrical map from raw sensory data collected by a mobile robot.
This map can serve as an input for algorithms for planning robots trajectory or for simulation of its environment.
The algorithm is based on rivalry between clusters which are competing for measured points.
This method was tested by using real data producing 30 polygons from approximately 500,000 points.
Resulting environmental model was tested in simulator of Large-Scale Integrated Project Symbrion.
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