A stochastically stable solution to the problem of robocentric mapping


This paper provides a novel solution for robocentric mapping using an autonomous mobile robot. The robot dynamic model is the standard unicycle model and the robot is assumed to measure both the range and relative bearing to the landmarks. The algorithm introduced in this paper relies on a coordinate transformation and an extended Kalman filter like… (More)
DOI: 10.1109/ROBOT.2009.5152424


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