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Springer Tracts in Advanced Robotics

Mapping, Planning and Exploration with Pose SLAM

Authors: Valencia, Rafael, Andrade-Cetto, Juan

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  • Deals with the mapping, path planning, and autonomous exploration problems, adopting the so-called Pose SLAM as the basic state estimation machinery
  • Proposes a novel approach allowing a mobile robot to plan a path and to select the appropriate actions to autonomously construct the map, while maximizing coverage and minimizing localization and map uncertainties
  • The presented method has been extensively tested both in simulation and in experiments with a real outdoor robot
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eBook 101,14 €
price for Spain (gross)
  • ISBN 978-3-319-60603-3
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 124,79 €
price for Spain (gross)
  • ISBN 978-3-319-60602-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 124,79 €
price for Spain (gross)
  • ISBN 978-3-319-86897-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
About this book

This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook 101,14 €
price for Spain (gross)
  • ISBN 978-3-319-60603-3
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 124,79 €
price for Spain (gross)
  • ISBN 978-3-319-60602-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
Softcover 124,79 €
price for Spain (gross)
  • ISBN 978-3-319-86897-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
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Bibliographic Information

Bibliographic Information
Book Title
Mapping, Planning and Exploration with Pose SLAM
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
119
Copyright
2018
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing AG
eBook ISBN
978-3-319-60603-3
DOI
10.1007/978-3-319-60603-3
Hardcover ISBN
978-3-319-60602-6
Softcover ISBN
978-3-319-86897-4
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XII, 114
Number of Illustrations
2 b/w illustrations, 38 illustrations in colour
Topics