A particle-filter-based active loop closing approach to autonomous robot exploration and mapping

@article{Ji2008APA,
  title={A particle-filter-based active loop closing approach to autonomous robot exploration and mapping},
  author={Xiucai Ji and Hui Zhang and Dan Hai and Zhiqiang Zheng},
  journal={2008 IEEE International Conference on Mechatronics and Automation},
  year={2008},
  pages={824-830}
}
One of the challenges of SLAM (simultaneous localization and mapping) for autonomous robots is the loop closing problem. In this paper, a decision-theoretic active loop closing approach is presented, which integrates the exploration planning with loop closing. In our approach, the active loop closing process is modeled as a multi-stage decision problem, and… CONTINUE READING