Path planning in graph SLAM using Expected uncertainty

@article{FermnLeon2016PathPI,
  title={Path planning in graph SLAM using Expected uncertainty},
  author={Leonardo Ferm{\'i}n-Leon and Jos{\'e} Neira and Jos{\'e} A. Castellanos},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={4594-4601}
}
In this work we address the problem of trajectory planning in Graph SLAM. We propose the use of Expected Value of the Final Uncertainty, which summarizes all the possible uncertainties that should be considered. In fully explored environments, this is used to determine the most reliable path to the final position. In partially explored environments, this… CONTINUE READING