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dc.contributor.authorValencia Carreño, Rafael
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2011-05-03T09:44:15Z
dc.date.available2011-05-03T09:44:15Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationValencia, R.; Andrade-Cetto, J.; Porta, J. "Path planning with pose SLAM". 2010.
dc.identifier.urihttp://hdl.handle.net/2117/12449
dc.description.abstractThe probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps (BRMs). The original BRM algorithm assumes a known model of the environment from which probabilistic sampling generates a roadmap. In our work, the roadmap is built on-line by the Pose SLAM algorithm. The result is a hybrid BRM-Pose SLAM method that devises optimal navigation strategies on-line by searching for the path with lowest accumulated uncertainty for the robot pose. The method is validated over synthetic data and standard SLAM datasets.
dc.format.extent18 p.
dc.language.isoeng
dc.relation.ispartofseriesIRI-DT-10-03
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshMobile robots -- Mathematical models
dc.subject.lcshPath Planning
dc.subject.lcshSLAM
dc.subject.otherPath Planning
dc.subject.otherSLAM
dc.titlePath planning with pose SLAM
dc.typeExternal research report
dc.subject.lemacRobots mòbils -- Control automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.rights.accessOpen Access
local.identifier.drac5456422
dc.description.versionPostprint (published version)
local.citation.authorValencia, R.; Andrade-Cetto, J.; Porta, J.
local.citation.publicationNamePath planning with pose SLAM


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