Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial informat...
Abstract— This paper addresses the problem of featurebased robot localization in large-size environments. With recent progress in SLAM techniques, it has become crucial for a rob...
– In Bayesian based approaches to mobile robot simultaneous localization and mapping, Rao-Blackwellized particle filters (RBPF) enable the efficient estimation of the posterior b...
Mapping opaque and confined environments such as caves and pipes is a challenging problem for mobile robots because sensor information is severely limited to the immediate proximit...
— A new solution to the Simultaneous Localization and Modelling problem is presented. It is based on the stochastic search of solutions in the state space to the global localizat...
Luis Moreno, Santiago Garrido, Fernando Martin, Ma...