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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation
Pedro Lourenço3; Bruno Guerreiro3; Pedro Batista3; Paulo Oliveira1; Carlos Silvestre2
2017
Conference NameCiência 2016 - Portuguese Science and Technology Meeting
Source PublicationLecture Notes in Control and Information Sciences
Volume474
Pages121-141
Conference Date2016
Conference PlaceLisboa, Portugal
Abstract

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters.

DOI10.1007/978-3-319-55372-6_6
URLView the original
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Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
3.Instituto de Sistemas e Robótica
Recommended Citation
GB/T 7714
Pedro Lourenço,Bruno Guerreiro,Pedro Batista,et al. New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation[C],2017:121-141.
APA Pedro Lourenço,Bruno Guerreiro,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2017).New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation.Lecture Notes in Control and Information Sciences,474,121-141.
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