Mapping, Planning and Exploration with Pose SLAM

  • Rafael Valencia
  • Juan Andrade-Cetto

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 119)

Table of contents

  1. Front Matter
    Pages i-xii
  2. Rafael Valencia, Juan Andrade-Cetto
    Pages 1-6
  3. Rafael Valencia, Juan Andrade-Cetto
    Pages 7-24
  4. Rafael Valencia, Juan Andrade-Cetto
    Pages 25-52
  5. Rafael Valencia, Juan Andrade-Cetto
    Pages 53-87
  6. Rafael Valencia, Juan Andrade-Cetto
    Pages 89-108
  7. Rafael Valencia, Juan Andrade-Cetto
    Pages 109-114

About this book

Introduction

This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.

Keywords

Path Planning Active Pose SLAM Robotics Pose graph optimization Autonomous exploration

Authors and affiliations

  • Rafael Valencia
    • 1
  • Juan Andrade-Cetto
    • 2
  1. 1.Carnegie Mellon UniversityPittsburghUSA
  2. 2.CSIC-UPCInstitut de Robòtica i Informàtica IndustrialBarcelonaSpain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-319-60603-3
  • Copyright Information Springer International Publishing AG 2018
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-60602-6
  • Online ISBN 978-3-319-60603-3
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book