Qualitative relational mapping and navigation for planetary rovers

@article{McClelland2016QualitativeRM,
  title={Qualitative relational mapping and navigation for planetary rovers},
  author={Mark McClelland and Mark E. Campbell and Tara A. Estlin},
  journal={Robotics Auton. Syst.},
  year={2016},
  volume={83},
  pages={73-86}
}
This paper presents a novel method for qualitative mapping of large scale spaces which decouples the mapping problem from that of position estimation. The proposed framework makes use of a graphical representation of the world in order to build a map consisting of qualitative constraints on the geometric relationships between landmark triplets. This process allows a mobile robot to extract information about landmark positions using a set of minimal sensors in the absence of GPS. A novel… 
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Probabilistic qualitative mapping for robots
  • J. Padgett, M. Campbell
  • Computer Science
    2016 IEEE International Conference on Robotics and Automation (ICRA)
  • 2016
TLDR
Probabilistic distributions over qualitative states are derived and an algorithm to update the map recursively is developed to enable robots to robustly map environments using noisy sensor measurements.
Probabilistic qualitative mapping for robots
TLDR
Probabilistic distributions over qualitative states are derived and an algorithm to update the map recursively is developed to enable robots to robustly map environments using noisy sensor measurements.

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