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RSS FeedsEntropy, Vol. 20, Pages 456: Autonomous Exploration and Mapping with RFS Occupancy-Grid SLAM (Entropy)

 
 

14 june 2018 15:58:52

 
Entropy, Vol. 20, Pages 456: Autonomous Exploration and Mapping with RFS Occupancy-Grid SLAM (Entropy)
 




This short note addresses the problem of autonomous on-line path-panning for exploration and occupancy-grid mapping using a mobile robot. The underlying algorithm for simultaneous localisation and mapping (SLAM) is based on random-finite set (RFS) modelling of ranging sensor measurements, implemented as a Rao-Blackwellised particle filter. Path-planning in general must trade-off between exploration (which reduces the uncertainty in the map) and exploitation (which reduces the uncertainty in the robot pose). In this note we propose a reward function based on the Rényi divergence between the prior and the posterior densities, with RFS modelling of sensor measurements. This approach results in a joint map-pose uncertainty measure without a need to scale and tune their weights.


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14 viewsCategory: Informatics, Physics
 
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