This paper introduces a dynamic map for mobile robots that adapts continuously over time. It resolves the stabilityplasticity dilemma (the trade-off between adaptation to new patterns and preservation of old patterns) by representing the environment over multiple timescales simultaneously (5 in our experiments). A sample-based representation is proposed, where older memories fade at different rates depending on the timescale.
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Biber et al. (2005) studied this question.