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Mapping, planning and exploration with pose SLAM

Author
Valencia, R.; Andrade-Cetto, J.
Type of activity
Book
Publisher
Springer
Date of publication
2018
ISBN
978-3-319-60602-6 Open in new window
DOI
https://doi.org/10.1007/978-3-319-60603-3 Open in new window
URL
https://link.springer.com/book/10.1007%2F978-3-319-60603-3 Open in new window
Abstract
This work reports research on mapping, path planning, and autonomous exploration. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. The main contribution of this work is an approach that allows a mobile robot to plan a path using the map it builds with Pose SLAM and to select the appropriate actions to autonomously construct this map. ...
Keywords
robot
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants

  • Siciliano, Bruno  (editor)
  • Valencia Carreño, Rafael  (author)
  • Khatib, Oussama  (editor)
  • Andrade Cetto, Juan  (author)