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Planning reliable paths with Pose SLAM
dc.contributor.author | Valencia Carreño, Rafael |
dc.contributor.author | Morta Garriga, Martí |
dc.contributor.author | Andrade-Cetto, Juan |
dc.contributor.author | Porta Pleite, Josep Maria |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2014-05-08T15:57:06Z |
dc.date.available | 2014-05-08T15:57:06Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Valencia, R. [et al.]. Planning reliable paths with Pose SLAM. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 1050-1059. |
dc.identifier.issn | 1552-3098 |
dc.identifier.uri | http://hdl.handle.net/2117/22926 |
dc.description.abstract | The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows improved navigation results when compared with standard path-planning strategies over both datasets and real-world experiments. |
dc.format.extent | 10 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots |
dc.subject.other | robots PARAULES AUTOR: autonomous navigation |
dc.subject.other | path planning |
dc.subject.other | simultaneous localization and map building (SLAM) |
dc.title | Planning reliable paths with Pose SLAM |
dc.type | Article |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/TRO.2013.2257577 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
local.identifier.drac | 12737393 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS |
local.citation.author | Valencia, R.; Morta , M.; Andrade-Cetto, J.; Porta, J.M. |
local.citation.publicationName | IEEE transactions on robotics |
local.citation.volume | 29 |
local.citation.number | 4 |
local.citation.startingPage | 1050 |
local.citation.endingPage | 1059 |
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