Title:
A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics
A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics
Author(s)
Egerstedt, Magnus B.
Jensfelt, Patric
Jensfelt, Patric
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Abstract
Simultaneous Localization and Mapping (SLAM)
has emerged as a key capability for autonomous mobile robots
navigating in unknown environments. The basic idea behind
SLAM is to concurrently obtain a map of the environment
and an estimate of where the robot is placed within this map.
In other words, the map and the robot's pose have to be
estimated at the same time, given the same data set. This
paper revisits this problem from a control theoretic vantage
point by reformulating the SLAM problem as a problem of
simultaneously estimating the state and the output map of a controlled, dynamical system. What is different with this
formulation is that the map is contained in the output map
and not, as previously done, in the state of the system.
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Date Issued
2008-06
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Text
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Proceedings