dc.contributor
Institut de Robòtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.contributor
Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.author
Valencia Carreño, Rafael
dc.contributor.author
Morta Garriga, Martí
dc.contributor.author
Andrade-Cetto, Juan
dc.contributor.author
Porta Pleite, Josep Maria
dc.identifier
Valencia, R. [et al.]. Planning reliable paths with Pose SLAM. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 1050-1059.
dc.identifier
https://hdl.handle.net/2117/22926
dc.identifier
10.1109/TRO.2013.2257577
dc.description.abstract
The maps that are built by standard feature-based simultaneous localization and mapping (SLAM) methods cannot be directly used to compute paths for navigation, unless enriched with obstacle or traversability information, with the consequent increase in complexity. Here, we propose a method that directly uses the Pose SLAM graph of constraints to determine the path between two robot configurations with lowest accumulated pose uncertainty, i.e., the most reliable path to the goal. The method shows improved navigation results when compared with standard path-planning strategies over both datasets and real-world experiments.
dc.description.abstract
Peer Reviewed
dc.description.abstract
Postprint (author’s final draft)
dc.format
application/pdf
dc.relation
info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS
dc.rights
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights
Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
robots
PARAULES AUTOR: autonomous navigation
dc.subject
simultaneous localization and map building (SLAM)
dc.subject
Classificació INSPEC::Automation::Robots
dc.title
Planning reliable paths with Pose SLAM
