| Title | Active SLAM in 3D deformable environments |
| Author | |
| Corresponding Author | Qi Hao |
| DOI | |
| Publication Years | 2022
|
| Conference Name | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
|
| ISSN | 2153-0858
|
| ISBN | 978-1-6654-7928-8
|
| Source Title | |
| Pages | 7952-7958
|
| Conference Date | OCT 23-27, 2022
|
| Conference Place | null,Kyoto,JAPAN
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| Abstract | This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available. |
| Keywords | |
| SUSTech Authorship | First
; Corresponding
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | Science and Technology Innovation Committee of Shenzhen City[JCYJ20200109141622964]
|
| WOS Research Area | Automation & Control Systems
; Computer Science
; Engineering
; Robotics
|
| WOS Subject | Automation & Control Systems
; Computer Science, Artificial Intelligence
; Engineering, Electrical & Electronic
; Robotics
|
| WOS Accession No | WOS:000909405300080
|
| Data Source | Web of Science
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9982224 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/415612 |
| Department | Department of Computer Science and Engineering 工学院 工学院_斯发基斯可信自主研究院 |
| Affiliation | 1.Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China. 2.Robotics Institute, University of Technology Sydney, NSW 2008, Australia. 3.Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, Guangdong, China. |
| First Author Affilication | Department of Computer Science and Engineering |
| Corresponding Author Affilication | Department of Computer Science and Engineering; Research Institute of Trustworthy Autonomous Systems |
| First Author's First Affilication | Department of Computer Science and Engineering |
| Recommended Citation GB/T 7714 |
Mengya Xu,Liang Zhao,Shoudong Huang,et al. Active SLAM in 3D deformable environments[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:7952-7958.
|
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 68Active SLAM in 3D （2264KB） | Restricted Access | -- | ||||
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