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Simultaneous Localization, Control and Mapping

  • Juan Andrade-Cetto
  • Alberto Sanfeliu
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 23)

Abstract

The issue of combining control and estimation together during SLAM has in general been addressed with the idea of online high level trajectory generation. For example, by studying which vehicle maneuvers would most effectively reduce localization uncertainty [25, 78], or what maneuvers would provide the greatest reward in terms of exploration gain [31]; by incorporating visual servoing techniques [20], or by implementing a PD controller over an A* searched trajectory [86].

Keywords

Feedback Linearization Simultaneous Localization Laser Range Scanner Optimal State Estimation Vehicle Orientation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • Juan Andrade-Cetto
    • 1
  • Alberto Sanfeliu
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial Universitat Politècnica de Catalunya – Consejo Superior de Investigaciones Científicas Llorens Artigas 4–6 08028 BarcelonaSpain

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