In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic ...

In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...

The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination ...

Robots are gradually being deployed for everyday environments, that is environments with no or very limited engineering taking place before deployment of the system. As manipulators and mobile platforms come together ...