Robotic Mapping and Exploration

"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping  (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.

List of contents

Basic Techniques.- I: Exploration with Known Poses.- Decision-Theoretic Exploration Using Coverage Maps.- Coordinated Multi-Robot Exploration.- Multi-Robot Exploration Using Semantic Place Labels.- II: Mapping and Exploration under Pose Uncertainty.- Efficient Techniques for Rao-Blackwellized Mapping.- Actively Closing Loops During Exploration.- Recovering Particle Diversity.- Information Gain-based Exploration.- Mapping and Localization in Non-Static Environments.- Conclusion.

Summary

"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping  (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.

Product details

• Authors: Cyrill Stachniss
• Publisher: Springer, Berlin
• Languages: English
• Product format: Paperback / Softback
• Released: 11.05.2011
• EAN: 9783642101687
• ISBN: 978-3-642-10168-7
• No. of pages: 198
• Dimensions: 154 mm x 235 mm x 14 mm
• Weight: 328 g
• Illustrations: XVIII, 198 p.
• Series: Springer Tracts in Advanced Robotics; Springer Tracts in Advanced Robotics
• Subjects: Natural sciences, medicine, IT, technology > Technology > Electronics, electrical engineering, communications engineering; C, Robotics, Artificial Intelligence, Automation, engineering, Systems Theory, Control, Electronic devices & materials, Control, Robotics, Mechatronics, Control, Robotics, Automation, Control engineering, Mechatronics, Robotics and Automation, Automatic control engineering, System Theory, Cybernetics & systems theory