eng Carrillo Lindado, Henry David Castellanos Gómez, José Ángel On the comparison of uncertainty criteria for active SLAM robotics slam mobile robot localization map building navigation exploration design of experiments In 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. 2011-11-16T17:25:39Z http://zaguan.unizar.es/record/6663 http://creativecommons.org/licenses/by-nc-sa/3.0 info:eu-repo/semantics/openAccess info:eu-repo/semantics/bachelorThesis info:eu-repo/semantics/publishedVersion Zaragoza Researchers Students Librarians