Publication
Planning reliable paths with Pose SLAM
Journal Article (2013)
Journal
IEEE Transactions on Robotics
Pages
1050-1059
Volume
29
Number
4
Doc link
http://dx.doi.org/10.1109/TRO.2013.2257577
File
Authors
Projects associated
MIPRCV: CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision
PAU: Percepción y acción ante incertidumbre
CUIK++: An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems
PAU+: Perception and Action in Robotics Problems with Large State Spaces
ARCAS: Aerial Robotics Cooperative Assembly System
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.
Categories
robots.
Author keywords
autonomous navigation, path planning, simultaneous localization and map building (SLAM)
Scientific reference
R. Valencia, M. Morta, J. Andrade-Cetto and J.M. Porta. Planning reliable paths with Pose SLAM. IEEE Transactions on Robotics, 29(4): 1050-1059, 2013.
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