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008			170622s2018 gw | s |||| 0|eng d
020			_a9783319606033
024	7		_a10.1007/978-3-319-60603-3 _2doi
040			_bspa _cES-MaUEC _dES-MaUEC
050		4	_aTJ211 _b.V354 2018 EB
100	1		_aValencia, Rafael. _eautor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/n87882908 _1http://viaf.org/viaf/7580090/
245	1	0	_aMapping, Planning and Exploration with Pose SLAM _cby Rafael Valencia, Juan Andrade-Cetto.
264		1	_aCham _bSpringer International Publishing _c2018
300			_a1 recurso en línea (XII, 114 páginas 40 ilustraciones, 38 ilustraciones a color.)
336			_2rdacontent _aTexto _btxt
337			_2rdamedia _aelectrónico _bc
338			_2rdacarrier _arecurso electrónico _bcr
347			_atext file _bPDF
490	0		_aSpringer Tracts in Advanced Robotics, _x1610-7438 _v119
490	0		_aEngineering (Springer-11647)
505	0		_aIntroduction -- SLAM Front-end -- SLAM Back-end -- Path planning in belief space with Pose SLAM -- Active Pose SLAM -- Conclusions.
520	3		_aThis monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.
988			_aEBSPRINGER_2018
650		7	_2embne _9670875 _aRobots autónomos
700	1		_aAndrade-Cetto, Juan. _eautor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/nb2006013642 _1http://viaf.org/viaf/47087425/ _9670996
776	0	8	_iEdición impresa: _z9783319606026
776	0	8	_iEdición impresa: _z9783319606040
776	0	8	_iEdición impresa: _z9783319868974
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-319-60603-3 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942			_2lcc _cLE