There are two indispensable methodologies for autonomous flights performed by unmanned
aerial vehicles (UAV). The first is flight control, and the other is simultaneous localization and …

Recently, Rao-Blackwellized particle filters (RBPF) have been introduced as an effective
means to solve the simultaneous localization and mapping problem. This approach uses a …

This paper discusses the recursive Bayesian formulation of the simultaneous localization
and mapping (SLAM) problem in which probability distributions or estimates of absolute or …

This article provides a comprehensive introduction into the field of robotic mapping, with a
focus on indoor mapping. It describes and compares various probabilistic techniques, as …

In this paper, we consider the problem of exploring an unknown environment with a team of
robots. As in single-robot exploration the goal is to minimize the overall exploration time. The …

Recently Rao-Blackwellized particle filters have been introduced as effective means to solve
the simultaneous localization and mapping (SLAM) problem. This approach uses a particle …

We analyze whether radio frequency identification (RFID) technology can be used to
improve the localization of mobile robots and persons in their environment. In particular we …

This paper presents an integrated approach to exploration, mapping, and localization. Our
algorithm uses a highly efficient Rao-Blackwellized particle filter to represent the posterior …

The ability to learn a consistent model of its environment is a prerequisite for autonomous
mobile robots. A particularly challenging problem in acquiring environment maps is that of …

In this paper, we address the problem of creating an objective benchmark for evaluating
SLAM approaches. We propose a framework for analyzing the results of a SLAM approach …