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A stochastically stable solution to the problem of robocentric mapping

Bishop, Adrian; Jensfelt, Patric


This paper provides a novel solution for robocentric mapping using an autonomous mobile robot. The robot dynamic model is the standard unicycle model and the robot is assumed to measure both the range and relative bearing to the landmarks. The algorithm introduced in this paper relies on a coordinate transformation and an extended Kalman filter like algorithm. The coordinate transformation considered in this paper has not been previously considered for robocentric mapping applications....[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)
DOI: 10.1109/ROBOT.2009.5152424


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