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objective of active slam

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The goal of active SLAM is to generate navigation strate- gies that complement mapping and localization. If SLAM and path-planning are considered to be mutually agnostic, their errors will affect each other. Uninformative trajecto- ries can deteriorate map accuracy, and imperfect maps can generate unsafe trajectories.
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Sep 27, 2020Active SLAM is formulated as the problem of controlling a robot's motion ... These uncertainty metrics aim at determining whether or not the ...
by D Trivun2015Cited by 16Final aim is to maximize both map coverage and accuracy. The proposed procedure is experimentally verified on Pioneer 3-DX mobile robot in real environment, ...
Date Added to IEEE Xplore: 18 June 2015
DOI: 10.1109/ICIT.2015.7125079
Date of Conference: 17-19 March 2015
by JA Placed2020Cited by 1Keywords: active SLAM; robotic exploration; optimality criteria; ... Furthermore, active SLAM can be formulated as a multi-objective ...
PDF | Active SLAM poses the challenge for an autonomous robot to plan efficient paths ... objective is considered a behaviour and their task is to weight.
Trajectory planning is performed using model predictive control (MPC) with an attractor incorporating long term goals. This planning is demonstrated both in ...
by E Lopezactive SLAM (Simultaneous Localization And Mapping) of nonholonomic vehicles. ... for control and planning purposes, but they present problems.
6 pages·330 KB
by DS Chaplot2019Cited by 135A straightforward modification of our method also tackles point-goal navigation tasks, and won the AI Habitat challenge at CVPR2019 across all tracks. 2 RELATED ...
"Active SLAM" studies the combined problem of SLAM with deciding where to move next in order to build the map as efficiently as possible. The need for active ...
by L Carlone2014Cited by 76We propose an application of Kullback-Leibler divergence for the purpose of evaluating the particle-based SLAM posterior approximation. This ...

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