Robotic mapping and exploration

Cyrill Stachniss (auth.)9783642010965, 3642010962

“Robotic Mapping and Exploration” is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.

Table of contents :
Front Matter….Pages –
Introduction….Pages 3-6
Basic Techniques….Pages 7-20
Front Matter….Pages 21-21
Decision-Theoretic Exploration Using Coverage Maps….Pages 23-41
Coordinated Multi-Robot Exploration….Pages 43-71
Multi-Robot Exploration Using Semantic Place Labels….Pages 73-90
Front Matter….Pages 91-91
Efficient Techniques for Rao-Blackwellized Mapping….Pages 93-115
Actively Closing Loops During Exploration….Pages 117-134
Recovering Particle Diversity….Pages 135-142
Information Gain-based Exploration….Pages 143-160
Mapping and Localization in Non-Static Environments….Pages 161-175
Conclusion….Pages 177-180
Back Matter….Pages –