Robotic Mapping and Exploration

• Κύριος συγγραφέας: Stachniss, Cyrill (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009.
• Σειρά: Springer Tracts in Advanced Robotics, 55
• Θέματα: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).; Control, Robotics, Mechatronics.; Systems Theory, Control.

 "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning. 

 Basic Techniques -- I: Exploration with Known Poses -- Decision-Theoretic Exploration Using Coverage Maps -- Coordinated Multi-Robot Exploration -- Multi-Robot Exploration Using Semantic Place Labels -- II: Mapping and Exploration under Pose Uncertainty -- Efficient Techniques for Rao-Blackwellized Mapping -- Actively Closing Loops During Exploration -- Recovering Particle Diversity -- Information Gain-based Exploration -- Mapping and Localization in Non-Static Environments -- Conclusion.