IRI - Active Pose SLAM with RRT*

Publication

Active Pose SLAM with RRT*

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2015

Pages

2167-2173

Doc link

http://dx.doi.org/10.1109/ICRA.2015.7139485

File

Download the digital copy of the doc pdf document

Authors

Projects associated

PAU+: Perception and Action in Robotics Problems with Large State Spaces
Cargo-ANTS: Cargo handling by Automated Next generation Transportation Systems for ports and terminals

Abstract

We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate, and grows an RRT* tree to generate the set of candidate paths. This action selection mechanism contrasts with previous appoaches in which the action set was built heuristically from a sparse set of candidate actions. The technique favorably compares agains the classical frontier- based exploration and other Active Pose SLAM methods in simulations in a common publicly available dataset.

Scientific reference

J. Vallvé and J. Andrade-Cetto. Active Pose SLAM with RRT*, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, WA, USA, pp. 2167-2173.