On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Self-Organizing Maps
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Fast, On-Line Learning of Globally Consistent Maps
Autonomous Robots
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
International Journal of Robotics Research
FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance
International Journal of Robotics Research
Experimental Analysis of Sample-Based Maps for Long-Term SLAM
International Journal of Robotics Research
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
IEEE Transactions on Robotics
Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System
IEEE Transactions on Robotics
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
IEEE Transactions on Robotics
A Minimalistic Approach to Appearance-Based Visual SLAM
IEEE Transactions on Robotics
Efficient View-Based SLAM Using Visual Loop Closures
IEEE Transactions on Robotics
Hybrid robot control and SLAM for persistent navigation and mapping
Robotics and Autonomous Systems
Lingodroids: socially grounding place names in privately grounded cognitive maps
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
CAT-SLAM: probabilistic localisation and mapping using a continuous appearance-based trajectory
International Journal of Robotics Research
Multiple levels of spatial organization: World Graphs and spatial difference learning
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Beyond here-and-now: extending shared physical experiences to shared conceptual experiences
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
OpenRatSLAM: an open source brain-based SLAM system
Autonomous Robots
Vision-based place recognition: how low can you go?
International Journal of Robotics Research
Long-term mapping and localization using feature stability histograms
Robotics and Autonomous Systems
Self-help: Seeking out perplexing images for ever improving topological mapping
International Journal of Robotics Research
Experience-based navigation for long-term localisation
International Journal of Robotics Research
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The challenge of persistent navigation and mapping is to develop an autonomous robot system that can simultaneously localize, map and navigate over the lifetime of the robot with little or no human intervention. Most solutions to the simultaneous localization and mapping (SLAM) problem aim to produce highly accurate maps of areas that are assumed to be static. In contrast, solutions for persistent navigation and mapping must produce reliable goal-directed navigation outcomes in an environment that is assumed to be in constant flux. We investigate the persistent navigation and mapping problem in the context of an autonomous robot that performs mock deliveries in a working office environment over a two-week period. The solution was based on the biologically inspired visual SLAM system, RatSLAM. RatSLAM performed SLAM continuously while interacting with global and local navigation systems, and a task selection module that selected between exploration, delivery, and recharging modes. The robot performed 1,143 delivery tasks to 11 different locations with only one delivery failure (from which it recovered), traveled a total distance of more than 40 km over 37 hours of active operation, and recharged autonomously a total of 23 times.