Robotic Mapping and Exploration

• Main Author: Stachniss, Cyrill (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009.
• Series: Springer Tracts in Advanced Robotics, 55
• Subjects: 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...

Table of Contents:

• 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.