CuikSLAM with unknown correspondence - preliminary results

• Autorzy: Kubica B. , Szynkiewicz W.
• Konferencja: Evolutionary Computation and Global Optimization (10; Krajowa Konferencja Algorytmy Ewolucyjne i Optymalizacja Globalna; 11-13.06.2007; Będlewo, Poland)
• Języki publikacji: EN

Abstrakty

EN

This paper considers the problem of simultaneous localization and mapping of a mobile robot. The kinematic approach of CuikSLAM is adopted applying constrained satisfaction and interval methods. The novelty is that we do not assume the landmark identification problem to br solved.

Słowa kluczowe

EN

SLAM; kinematic problem; unknown corresopondence; interval computations; constraint satisfaction

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2007
• Tom: z. 160
• Strony: 143--151
• Opis fizyczny: Bibliogr. 9 poz. , tab., schem.

Twórcy

autor

Kubica B.

autor

Szynkiewicz W.

• Warsaw University of Technology,

Bibliografia

• [1] K. R. Apt, "The essence of constraint propagation", Theoretical Computer Science, Vol. 221, No. 1-2 (1999), pp. 179-210.
• [2] F. Benhamou, L. Granvilliers, "Combining Local Consistency, Symbolic Rewriting and Interval Methods", LNCS, Vol. 1138 (1996), pp. 144-159.
• [3] T. Duckett, "A genetic algorithm for simultaneous localization and mapping", Proceedings of ICRA'03, Vol. 1 (2003), pp. 434-439.
• [4] U. Frese, "A Discussion of Simultaneous Localization and Mapping", Autonomous Robots, Vol. 20, No. 1 (2006), pp. 25-42.
• [5] E. Hansen, "Global Optimization Using Interval Analysis", Marcel Dekker, New York, 1992.
• [6] R. B. Kearfott, "Rigorous Global Search: Continuous Problems", Kluwer Academic Publishers, Dordrecht, 1996.
• [7] R. B. Kearfott, M. T. Nakao, A. Neumaier, S. M. Rump, S. P. Shary, P. van Hentenryck, "Standardized notation in interval analysis", available on the web at http://www.mat.univie.ac.at/~neum/software/int/notation.ps.gz .
• [8] M. Montemarlo, S. Thrun, D. Koller, B. Wegbreit, "FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem", Proceedings of the Eighteenth National Conference on Artificial Intelligence, pp. 593-598.
• [9] J. M. Porta, "CuikSLAM: A Kinematics-based Approach to SLAM", IEEE International Conference on Robotics and Automation. IEEE Press (2005), pp. 2436-2442.