Planning Reliable Paths With Pose SLAM

@article{Valencia2013PlanningRP,
  title={Planning Reliable Paths With Pose SLAM},
  author={Rafael Valencia and Marti Morta and Juan Andrade-Cetto and Josep M. Porta},
  journal={IEEE Transactions on Robotics},
  year={2013},
  volume={29},
  pages={1050-1059}
}
The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method… CONTINUE READING
Highly Cited
This paper has 92 citations. REVIEW CITATIONS
34 Extracted Citations
63 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.
Showing 1-10 of 34 extracted citations

93 Citations

0102030201320142015201620172018
Citations per Year
Semantic Scholar estimates that this publication has 93 citations based on the available data.

See our FAQ for additional information.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 63 references

Similar Papers

Loading similar papers…