Show simple item record

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.accessioned2011-10-27T11:33:41Z
dc.date.available2011-10-27T11:33:41Z
dc.date.created2011
dc.date.issued2011
dc.identifier.citationValencia, R.; Andrade-Cetto, J.; Porta, J.M. Path planning in belief space with Pose SLAM. A: IEEE International Conference on Robotics and Automation. "2011 IEEE International Conference on Robotics and Automation". Shangai: 2011, p. 78-83.
dc.identifier.urihttp://hdl.handle.net/2117/13681
dc.description.abstractThe probabilistic belief networks that result from standard feature-based simultaneous localization and map building 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. We present a method that devises optimal navigation strategies by searching for the path in the pose graph with lowest accumulated robot pose uncertainty, independently of the map reference frame. The method shows improved navigation results when compared to shortest paths both over synthetic data and real datasets.
dc.format.extent6 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobots
dc.subject.otherpath planning
dc.subject.otherSLAM
dc.titlePath planning in belief space with Pose SLAM
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.identifier.doi10.1109/ICRA.2011.5979742
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://dx.doi.org/10.1109/ICRA.2011.5979742
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac5979751
dc.description.versionPostprint (published version)
local.citation.authorValencia, R.; Andrade-Cetto, J.; Porta, J.M.
local.citation.contributorIEEE International Conference on Robotics and Automation
local.citation.pubplaceShangai
local.citation.publicationName2011 IEEE International Conference on Robotics and Automation
local.citation.startingPage78
local.citation.endingPage83


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder