000006663 001__ 6663 000006663 005__ 20170831220338.0 000006663 037__ $$aTAZ-TFM-2011-102 000006663 041__ $$aeng 000006663 1001_ $$aCarrillo Lindado, Henry David 000006663 24500 $$aOn the comparison of uncertainty criteria for active SLAM 000006663 260__ $$aZaragoza$$bUniversidad de Zaragoza$$c2011 000006663 506__ $$aby-nc-sa$$bCreative Commons$$c3.0$$uhttp://creativecommons.org/licenses/by-nc-sa/3.0/ 000006663 520__ $$aIn this report, we consider the computation of the D-optimality criterion as a metric for the uncertainty of a SLAM system. Properties regarding the use of this uncertainty criterion in the active SLAM context are highlighted, and comparisons against the A-optimality criterion and entropy are presented. This report shows that contrary to what has been previously reported in the literature, the D-optimality criterion is indeed capable of giving fruitful information as a metric for the uncertainty of a robot performing SLAM. Finally, through various experiments with simulated and real robots, we support our claims and show that the use of D-opt has desirable effects in various SLAM related tasks such as active mapping and exploration. 000006663 521__ $$aMáster Universitario en Ingeniería de Sistemas e Informática 000006663 540__ $$aDerechos regulados por licencia Creative Commons 000006663 6531_ $$arobotics 000006663 6531_ $$aslam 000006663 6531_ $$amobile robot localization 000006663 6531_ $$amap building 000006663 6531_ $$anavigation 000006663 6531_ $$aexploration 000006663 6531_ $$adesign of experiments 000006663 700__ $$aCastellanos Gómez, José Ángel$$edir. 000006663 7102_ $$aUniversidad de Zaragoza$$bInformática e Ingeniería de Sistemas$$cIngeniería de Sistemas y Automática 000006663 8560_ $$fhcarri@unizar.es 000006663 8564_ $$s3010857$$uhttps://zaguan.unizar.es/record/6663/files/TAZ-TFM-2011-102.pdf$$yMemoria (eng)$$zMemoria (eng) 000006663 909CO $$ooai:zaguan.unizar.es:6663$$ptrabajos-fin-master$$pdriver 000006663 950__ $$a 000006663 980__ $$aTAZ$$bTFM$$cEINA