6663 Zaragoza Universidad de Zaragoza 2011 by-nc-sa Creative Commons 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ Derechos regulados por licencia Creative Commons hcarri@unizar.es TAZ TFM EINA Castellanos Gómez, José Ángel dir. Universidad de Zaragoza Informática e Ingeniería de Sistemas Ingeniería de Sistemas y Automática On the comparison of uncertainty criteria for active SLAM 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. Máster en Ingeniería de Sistemas e Informática Carrillo Lindado, Henry David TAZ-TFM-2011-102 eng robotics slam mobile robot localization map building navigation exploration design of experiments oai:zaguan.unizar.es:6663 public TAZ http://zaguan.unizar.es/TAZ/EINA/2011/6663/TAZ-TFM-2011-102.pdf 3010857 Memoria (eng)