A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics

Egerstedt, Magnus B.; Jensfelt, Patric

Title:

A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics

dc.contributor.author	Egerstedt, Magnus B.
dc.contributor.author	Jensfelt, Patric
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename	Kungl. Tekniska Högskolan. Centrum för Autonoma System
dc.date.accessioned	2011-04-20T13:47:58Z
dc.date.available	2011-04-20T13:47:58Z
dc.date.issued	2008-06
dc.description	© 2008 AACC	en_US
dc.description	Digital Object Identifier : 10.1109/ACC.2008.4586852
dc.description.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.	en_US
dc.identifier.citation	M. Egerstedt and P. Jensfelt. A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics. American Control Conference, Seattle, WA, June 2008.	en_US
dc.identifier.issn	0743-1621
dc.identifier.uri	http://hdl.handle.net/1853/38633
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Simultaneous Localization and Mapping (SLAM)	en_US
dc.subject	Autonomous mobile robots	en_US
dc.subject	Path planning	en_US
dc.title	A Control Theoretic Formulation of the Generalized SLAM Problem in Robotics	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	School of Electrical and Computer Engineering
local.contributor.corporatename	College of Engineering
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