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dc.contributor.authorValencia Carreño, Rafael
dc.contributor.authorMorta Garriga, Martí
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2014-05-08T15:57:06Z
dc.date.available2014-05-08T15:57:06Z
dc.date.created2013
dc.date.issued2013
dc.identifier.citationValencia, R. [et al.]. Planning reliable paths with Pose SLAM. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 1050-1059.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/22926
dc.description.abstractThe 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.extent10 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots
dc.subject.otherrobots PARAULES AUTOR: autonomous navigation
dc.subject.otherpath planning
dc.subject.othersimultaneous localization and map building (SLAM)
dc.titlePlanning reliable paths with Pose SLAM
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/TRO.2013.2257577
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
local.identifier.drac12737393
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
local.citation.authorValencia, R.; Morta , M.; Andrade-Cetto, J.; Porta, J.M.
local.citation.publicationNameIEEE transactions on robotics
local.citation.volume29
local.citation.number4
local.citation.startingPage1050
local.citation.endingPage1059


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain