Observability analysis and active control for airborne SLAM

  title={Observability analysis and active control for airborne SLAM},
  author={Mitch Bryson and Salah Sukkarieh},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
An unmanned aerial vehicle (UAV) is tasked to explore an unknown environment and to map the features it finds, but must do so without the use of infrastructure-based localisation systems such as GPS, or any a priori terrain data. The UAV navigates using a statistical estimation technique known as simultaneous localisation and mapping (SLAM) which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees. SLAM offers a unique approach to… CONTINUE READING
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