Active Mobile Robot Simultaneous Localization and Mapping

Abstract

Information theory is combined with the Rao-Blackwellised particle filter (RBPF) for mobile robot simultaneous localization and mapping (SLAM). The new version of SLAM is termed active SLAM. This paper addresses the problem of maximizing the accuracy of the building map during active exploration by adaptively selecting control actions that maximize… (More)
DOI: 10.1109/ROBIO.2006.340218

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