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999 _c13644
_d13644
001 978-3-319-60603-3
003 DE-He213
005 20211204110810.0
008 170622s2018 gw | s |||| 0|eng d
020 _a9783319606033
040 _cAIKTC-KRRC
041 _aENG
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM1
_2thema
082 0 4 _a629.892
_223
100 1 _aValencia, Rafael.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 1 0 _aMapping, Planning and Exploration with Pose SLAM
_h[electronic resource] /
250 _a1st ed. 2018.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2018.
300 _aXII, 114 p. 40 illus., 38 illus. in color.
_bCard Paper
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v119
520 _aThis 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.
650 0 _aComputer Engineering
_94622
653 _aAutomation.
653 _aArtificial intelligence.
653 _aRobotics and Automation.
700 1 _aAndrade-Cetto, Juan.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
710 2 _aSpringerLink (Online service)
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319606026
776 0 8 _iPrinted edition:
_z9783319606040
776 0 8 _iPrinted edition:
_z9783319868974
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v119
856 4 0 _uhttps://doi.org/10.1007/978-3-319-60603-3
_zClick here to access eBook in Springer Nature platform. (Within Campus only.)
942 _cEBOOKS
_2ddc