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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.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.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.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherpath planning
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.description.peerreviewedPeer Reviewed
dc.rights.accessRestricted access - publisher's policy
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.publicationName2011 IEEE International Conference on Robotics and Automation

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