25 August 2003 Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments
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This paper describes an autonomous navigation system capable of exploring an unknown environment, as implemented by the Advanced Technology Centre of BAE SYSTEMS (ATC). An overview of the enabling technology of the autonomous system, simultaneous localization and mapping (SLAM), is given before describing in detail the utility functions used to perform the strategic decision making required for autonomous exploration. Relevant studies, performed in simulation, of the major issues involved in multi-platform SLAM are also described. Initial results and conclusions are given at the end of the paper. All experiments are conducted on the Pioneer all terrain mobile robots using common off the shelf sensing devices.
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Andrew R. Cooke, Andrew R. Cooke, Phil Greenway, Phil Greenway, Mike le Maistre, Mike le Maistre, Richard Manley, Richard Manley, David Mullin, David Mullin, David Nicholson, David Nicholson, James Swinnerton, James Swinnerton, Dimitris Valachis, Dimitris Valachis, Andy Wright, Andy Wright, "Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments", Proc. SPIE 5096, Signal Processing, Sensor Fusion, and Target Recognition XII, (25 August 2003); doi: 10.1117/12.487892; https://doi.org/10.1117/12.487892

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