Fast Autonomous Robotic Exploration Using the Underlying Graph Structure
Julio A. Placed, José A. Castellanos
20212021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)25 citationsDOIOpen Access PDF
Abstract
In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory Optimal Experimental Design. We validate the proposed relationships in 2D and 3D graph SLAM datasets, showing a remarkable relaxation of the computational load when using the graph structure. Furthermore, we present a novel Active SLAM framework which outperforms traditional methods by successfully leveraging the graphical facet of the problem so as to autonomously explore an unknown environment.
Topics & Concepts
Computer scienceSimultaneous localization and mappingGraphTheoretical computer scienceGraph theoryArtificial intelligenceRobotMobile robotMathematicsCombinatoricsRobotics and Sensor-Based LocalizationRobotic Path Planning AlgorithmsModular Robots and Swarm Intelligence