Active SLAM using Model Predictive Control and Attractor based Exploration

Abstract

Active SLAM poses the challenge for an autonomous robot to plan efficient paths simultaneous to the SLAM process. The uncertainties of the robot, map and sensor measurements, and the dynamic and motion constraints need to be considered in the planning process. In this paper, the active SLAM problem is formulated as an optimal trajectory planning problem. A… (More)
DOI: 10.1109/IROS.2006.282530

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