Active SLAM for structured environments

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dc.contributor.author Leung, Cindy en_US
dc.contributor.author Huang, Shoudong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor IEEE en_US
dc.date.accessioned 2010-05-28T10:01:40Z
dc.date.available 2010-05-28T10:01:40Z
dc.date.issued 2008 en_US
dc.identifier 2008002085 en_US
dc.identifier.citation Leung Cindy, Huang Shoudong, and Dissanayake Gamini 2008, 'Active SLAM for structured environments', IEEE, Piscataway, USA, pp. 1898-1903. en_US
dc.identifier.issn 1050-4729 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11075
dc.description.abstract This paper considers the trajectory planning problem for line-feature based SLAM in structured indoor environments. The robot poses and line features are estimated using smooth and mapping (SAM) which is found to provide more consistent estimates than the extended Kalman filter (EKF) The objective of trajectory planning is to minimise the uncertainty of the estimates and to maximise coverage. Trajectory planning is performed using model predictive control (MPC) with an attractor incorporating long term goals. This planning is demonstrated both in simulation and in a real-time experiment with a Pioneer2DX robot. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/ROBOT.2008.4543484 en_US
dc.title Active SLAM for structured environments en_US
dc.parent Proceeding of 2008 IEEE International Conference on Robotics and Automation en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 1898 en_US
dc.identifier.endpage 1903 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 091303 en_US
dc.personcode 98071020 en_US
dc.personcode 040006 en_US
dc.personcode 011224 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE International Conference on Robotics and Automation en_US
dc.date.activity 20080519 en_US
dc.location.activity Pasadena, USA en_US
dc.description.keywords Kalman filters SLAM (robots) path planning predictive control en_US
dc.staffid en_US
dc.staffid 011224 en_US


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