A general relationship between optimality criteria and connectivity indices for active graph-slam

Placed, Julio A. (Universidad de Zaragoza) ; Castellanos, José A. (Universidad de Zaragoza)

Resumen: Quantifying uncertainty is a key stage in active simultaneous localization and mapping (SLAM), as it allows to identify the most informative actions to execute. However, dealing with full covariance or even Fisher information matrices (FIMs) is computationally heavy and easily becomes intractable for online systems. In this letter, we study the paradigm of active graph-SLAM formulated over the special Euclidean group SE(n) , and propose a general relationship between the FIM of the system and the Laplacian matrix of the underlying pose-graph. This link makes possible to use graph connectivity indices as utility functions with optimality guarantees, since they approximate the well-known optimality criteria that stem from optimal design theory. Experimental validation demonstrates that the proposed method leads to equivalent decisions for active SLAM in a fraction of the time.

Idioma: Inglés

DOI: 10.1109/LRA.2022.3233230

Año: 2023

Publicado en: IEEE Robotics and Automation Letters 8, 2 (2023), 816-823
ISSN: 2377-3766

Factor impacto JCR: 4.6 (2023)

Categ. JCR: ROBOTICS rank: 12 / 46 = 0.261 (2023) - Q2 - T1

Factor impacto CITESCORE: 9.6 - Computer Science Applications (Q1) - Control and Systems Engineering (Q1) - Artificial Intelligence (Q1) - Mechanical Engineering (Q1) - Biomedical Engineering (Q1) - Computer Vision and Pattern Recognition (Q1) - Human-Computer Interaction (Q1) - Control and Optimization (Q1)

Factor impacto SCIMAGO: 2.119 - Artificial Intelligence (Q1) - Biomedical Engineering (Q1) - Computer Science Applications (Q1) - Mechanical Engineering (Q1) - Control and Optimization (Q1) - Control and Systems Engineering (Q1) - Human-Computer Interaction (Q1) - Computer Vision and Pattern Recognition (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/PID2019-108398GB-I00

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)