Mapping, Planning and Exploration with Pose SLAM

• Main Authors: Valencia, Rafael (Author, http://id.loc.gov/vocabulary/relators/aut), Andrade-Cetto, Juan (http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2018.
• Edition: 1st ed. 2018.
• Series: Springer Tracts in Advanced Robotics, 119
• Subjects: Robotics.; Automation.; Artificial intelligence.; Robotics and Automation.; Artificial Intelligence.

This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajec...

Table of Contents:

• Introduction
• SLAM Front-end
• SLAM Back-end
• Path planning in belief space with Pose SLAM
• Active Pose SLAM
• Conclusions.