Titlebook: Mapping, Planning and Exploration with Pose SLAM; Rafael Valencia,Juan Andrade-Cetto Book 2018 Springer International Publishing AG 2018 P

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1610-7438 achinery.Proposes a novel approach allowing a mobile robot t.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.

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https://doi.org/10.1007/978-3-319-60603-3Path Planning; Active Pose SLAM; Robotics; Pose graph optimization; Autonomous exploration

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Mapping, Planning and Exploration with Pose SLAM978-3-319-60603-3Series ISSN 1610-7438 Series E-ISSN 1610-742X

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SLAM Back-End,The SLAM problem has been traditionally addressed as a state estimation problem in which perception and motion uncertainties are coupled.

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Path Planning in Belief Space with Pose SLAM,The probabilistic belief networks that result from standard feature-based simultaneous localization and map building methods cannot be directly used to plan trajectories.

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Active Pose SLAM,This Chapter presents an active exploration strategy that complements Pose SLAM and the path planning approach shown in Chap.?..

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Conclusions,The work presented in this book constitutes a step towards an integrated framework for mapping, planning and exploration for autonomous mobile robots.