IEEE - Institute of Electrical and Electronics Engineers, Inc. - Active pose SLAM with RRT*

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Joan Vallve ; Juan Andrade-Cetto
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 2,167 - 2,173
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139485
Regular:

We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate,... View More

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