Planning Reliable Paths With Pose SLAM

  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},
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
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