Exploration And Mapping With Mobile Robots
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Exploration And Mapping With Mobile Robots
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Author :
language : en
Publisher:
Release Date : 2006
Exploration And Mapping With Mobile Robots written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
Models of the environment are needed for a wide range of robotic applications, from search and rescue to automated vacuum cleaning. Learning maps has therefore been a major research focus in the robotics community over the last decades. Robots that are able to acquire an accurate model of their environment on their own are regarded as fulfilling a major precondition of truly autonomous agents. In order to solve the map learning problem, a robot has to address mapping, localization, and path planning at the same time. In general, these three tasks cannot be decoupled and solved independently and map learning is thus referred to as the simultaneous planning, localization, and mapping problem. Because of the coupling between these tasks, this problem is very complex. It can become even more complex when there are dynamic changes in the environment or several robots are being used together to solve the problem. The contributions of this thesis are solutions to various aspects of the autonomous map learning problem. We first present approaches to exploration that take into account the uncertainty in the world model of the robot. We then describe how to achieve good collaboration among a team of robots so that they efficiently solve an exploration task. Our approach distributes the robots over the environment and in this way avoids redundant work and reduces the risk of interference between the individual team members. We furthermore provide a technique to make use of background knowledge about typical spacial structures when distributing the robots over the environment. As a result, the overall time needed to complete the exploration mission is reduced. To deal with the uncertainty in the pose of a robot, we present a solution to the simultaneous localization and mapping problem. The difficulty in this context is to build up a map while at the same time localizing the robot in this map. Our approach maintains a joint posterior about the trajectory of the robot and the mo.
Robotic Mapping And Exploration
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Author : Cyrill Stachniss
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-04-27
Robotic Mapping And Exploration written by Cyrill Stachniss and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-27 with Technology & Engineering categories.
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Exploration And Mapping With Mobile Robots
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Author : Cyrill Stachniss
language : en
Publisher:
Release Date : 2006
Exploration And Mapping With Mobile Robots written by Cyrill Stachniss and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
Autonomous Mobile Robots Perception Mapping And Navigation
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Author : Sundararaja S. Iyengar
language : en
Publisher: Institute of Electrical & Electronics Engineers(IEEE)
Release Date : 1991
Autonomous Mobile Robots Perception Mapping And Navigation written by Sundararaja S. Iyengar and has been published by Institute of Electrical & Electronics Engineers(IEEE) this book supported file pdf, txt, epub, kindle and other format this book has been release on 1991 with Technology & Engineering categories.
Mapping Planning And Exploration With Pose Slam
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Author : Rafael Valencia
language : en
Publisher: Springer
Release Date : 2017-06-21
Mapping Planning And Exploration With Pose Slam written by Rafael Valencia and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-21 with Technology & Engineering categories.
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.
Proceedings Aaai National Conference On Artificial Intelligence
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Author :
language : en
Publisher:
Release Date : 2005
Proceedings Aaai National Conference On Artificial Intelligence written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Artificial intelligence categories.
Proceedings Of The Twenty Third Aaai Conference On Artificial Intelligence And The Twentieth Innovative Applications Of Artificial Intelligence Conference
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Author : American Association for Artificial Intelligence
language : en
Publisher:
Release Date : 2008
Proceedings Of The Twenty Third Aaai Conference On Artificial Intelligence And The Twentieth Innovative Applications Of Artificial Intelligence Conference written by American Association for Artificial Intelligence and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Artificial intelligence categories.
Mobile Robots Navigation
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Author : Luis Payá
language : en
Publisher: MDPI
Release Date : 2020-11-13
Mobile Robots Navigation written by Luis Payá and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-13 with Technology & Engineering categories.
The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.
Mobile Robots
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Author :
language : en
Publisher:
Release Date : 1997
Mobile Robots written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Mobile robots categories.
1997 Ieee International Symposium On Computational Intelligence In Robotics And Automation
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Author :
language : en
Publisher:
Release Date : 1997
1997 Ieee International Symposium On Computational Intelligence In Robotics And Automation written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Automatic control categories.