Robotic Mapping and Exploration - Cyrill Stachniss

Robotic Mapping and Exploration

Buch | Softcover
XVIII, 198 Seiten
2010 | 1. Softcover reprint of hardcover 1st ed. 2009
Springer Berlin (Verlag)
978-3-642-10168-7 (ISBN)
160,49 inkl. MwSt
This book examines simultaneous localization and mapping (SLAM) for autonomous robots. Solutions include uncertainty-driven exploration, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments.

"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.

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.

Erscheint lt. Verlag 22.10.2010
Reihe/Serie Springer Tracts in Advanced Robotics
Zusatzinfo XVIII, 198 p.
Verlagsort Berlin
Sprache englisch
Maße 155 x 235 mm
Gewicht 328 g
Themenwelt Informatik Theorie / Studium Künstliche Intelligenz / Robotik
Technik Elektrotechnik / Energietechnik
Technik Maschinenbau
Schlagworte autonom • autonomous robot • Autonomous Robots • Knowledge • learning • Mobile Robot • robot • Robotic Exploration • Robot Mapping • SLAM • SLAM (Simultaneous Localization and Map Building) • Uncertainty
ISBN-10 3-642-10168-2 / 3642101682
ISBN-13 978-3-642-10168-7 / 9783642101687
Zustand Neuware
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