Active SLAM using model predictive control and attractor based exploration

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 5026-5031

  Leung, Cindy ^a   Huang, Shoudong ^a   Dissanayake, Gamini ^a  

^a UNIVERSITY OF TECHNOLOGY SYDNEY   (Australia)

Author keywords

Exploration; Extended Kalman filter (EKF); Nonlinear model predictive control (MPC); Optimization; Path planning; Simultaneous planning localization and mapping (SPLAM)

Indexed keywords

CONFORMAL MAPPING; EXTENDED KALMAN FILTERS; MOTION PLANNING; NONLINEAR CONTROL SYSTEMS; OPTIMIZATION; PREDICTIVE CONTROL SYSTEMS; PROBLEM SOLVING; UNCERTAINTY ANALYSIS;

ATTRACTOR BASED EXPLORATION; NONLINEAR MODEL PREDICTIVE CONTROL (MPC); SIMULTANEOUS PLANNING LOCALIZATION AND MAPPING (SPLAM);

ROBOTS;

EID: 34250646272     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282530     Document Type: Conference Paper

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