Title:
A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics
A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics
Authors
Egerstedt, Magnus B.
Jensfelt, Patric
Jensfelt, Patric
Authors
Advisors
Advisors
Associated Organizations
Organizational Unit
Organizational Unit
Series
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
2008-06
Extent
Resource Type
Text
Resource Subtype
Proceedings