Universidad de Zaragoza Custodiado por la Biblioteca de la Universidad de Zaragoza Premis-plugin for CDSInvenio, developed by Miguel Martín Miguel Martín González 02408nmm 2200000 a 4500

oai:zaguan.unizar.es:6663 2013-05-21

eng Carrillo Lindado, Henry David Castellanos Gómez, José Ángel http://zaguan.unizar.es/record/6663 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. http://creativecommons.org/licenses/by-nc-sa/3.0 info:eu-repo/semantics/openAccess info:eu-repo/semantics/bachelorThesis info:eu-repo/semantics/publishedVersion application/pdf 2011-11-16 02408nmm 2200000 a 4500 6663 TAZ-TFM-2011-102 eng Carrillo Lindado, Henry David On the comparison of uncertainty criteria for active SLAM Zaragoza Universidad de Zaragoza 2011 by-nc-sa Creative Commons 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ 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 Derechos regulados por licencia Creative Commons robotics slam mobile robot localization map building navigation exploration design of experiments Castellanos Gómez, José Ángel dir. Universidad de Zaragoza Informática e Ingeniería de Sistemas Ingeniería de Sistemas y Automática hcarri@unizar.es 3010857 http://zaguan.unizar.es/TAZ/EINA/2011/6663/TAZ-TFM-2011-102.pdf Memoria (eng) oai:zaguan.unizar.es:6663 public TAZ TAZ TFM EINA URI http://zaguan.unizar.es/record/6663 SUPPORTED 0 MD5 http://zaguan.unizar.es/TAZ/EINA/2011/6663/TAZ-TFM-2011-102.md5 4096 image/x.djvu 6 http://djvu.sourceforge.net/abstract.html DJVU/6 Profile information Lizardtech Document Express Enterprise 5.1 2011-01-19T11:29:27 URI http://zaguan.unizar.es/TAZ/EINA/2011/6663/TAZ-TFM-2011-102.pdf disk Minimum View Print Visualization of DJVU requires specific software, like DjVu Browser Plugin URI http://creativecommons.org/licenses/by-nc/3.0 URI http://creativecommons.org/licenses/by-nc/3.0 license URI http://creativecommons.org/licenses/by-nc/3.0 You are free to adapt, copy, transmite or distribute the work under the following conditions: (1) You must attribute the work in the manner specified by the author or licensor (but not in any way that suggests that they endorse you or your use of the work). (2) You may not use this work for commercial purposes (3) For any reuse or distribution, you must make clear to others the license terms of this work (4) Any of the above conditions can be waived if you get permission from the copyright holder (5) Nothing in this license impairs or restricts the author's moral rights This object is licensed under Creative Common Attribution-NonCommercial 3.0 (further details: http://creativecommons.org/licenses/by-nc/3.0/). Universidad de Zaragoza Automatizacion de Bibliotecas Edif. Matematicas, Pedro Cerbuna 12, 50009 Zaragoza auto.buz@unizar.es