Near-optimal landmark selection for mobile robot navigation

  title={Near-optimal landmark selection for mobile robot navigation},
  author={Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Wolfram Burgard},
  journal={2011 IEEE International Conference on Robotics and Automation},
The ability to accurately localize themselves is a fundamental pre-condition for service robots designed to carry out navigation and transportation tasks. Because of the high degree of dynamics in populated and real-world environments, often artificial landmarks are used to achieve the desired accuracy in localization. In this paper we consider the problem of optimally placing landmarks for robots navigating frequently on similar trajectories. Our method maximizes conditional mutual information… CONTINUE READING
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