تقرير
Fast Autonomous Robotic Exploration Using the Underlying Graph Structure
| العنوان: | Fast Autonomous Robotic Exploration Using the Underlying Graph Structure |
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| المؤلفون: | Placed, Julio A., Castellanos, José A. |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory Optimal Experimental Design. We validate the proposed relationships in 2D and 3D graph SLAM datasets, showing a remarkable relaxation of the computational load when using the graph structure. Furthermore, we present a novel Active SLAM framework which outperforms traditional methods by successfully leveraging the graphical facet of the problem so as to autonomously explore an unknown environment. Comment: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). arXiv admin note: text overlap with arXiv:2110.01289 |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1109/IROS51168.2021.9636148 |
| URL الوصول: | http://arxiv.org/abs/2204.10610 |
| رقم الأكسشن: | edsarx.2204.10610 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1109/IROS51168.2021.9636148 |
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