000165083 001__ 165083 000165083 005__ 20251212165957.0 000165083 0247_ $$2doi$$a10.1109/TRO.2018.2808902 000165083 0248_ $$2sideral$$a106850 000165083 037__ $$aART-2018-106850 000165083 041__ $$aeng 000165083 100__ $$0(orcid)0000-0002-6108-6069$$aRodriguez-Arevalo, M.L.$$uUniversidad de Zaragoza 000165083 245__ $$aOn the Importance of Uncertainty Representation in Active SLAM 000165083 260__ $$c2018 000165083 5203_ $$aThe purpose of this work is to highlight the paramount importance of representing and quantifying uncertainty to correctly report the associated confidence of the robot''s location estimate at each time step along its trajectory and therefore decide the correct course of action in an active SLAM mission. We analyze the monotonicity property of different decision-making criteria, both in 2-D and 3-D, with respect to the representation of uncertainty and of the orientation of the robot''s pose. Monotonicity, the property that uncertainty increases as the robot moves, is essential for adequate decision making. We analytically show that, by using differential representations to propagate spatial uncertainties, monotonicity is preserved for all optimality criteria, A-opt, D-opt, and E-opt, and for Shannon''s entropy. We also show that monotonicity does not hold for any criteria in absolute representations using Roll-Pitch-Yaw and Euler angles. Finally, using unit quaternions in absolute representations, the only criteria that preserve monotonicity are D-opt and Shannon''s entropy. 000165083 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T04$$9info:eu-repo/grantAgreement/ES/MINECO/BES-2013-064129$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2015-68905-P 000165083 540__ $$9info:eu-repo/semantics/closedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000165083 590__ $$a6.483$$b2018 000165083 591__ $$aROBOTICS$$b2 / 26 = 0.077$$c2018$$dQ1$$eT1 000165083 592__ $$a1.987$$b2018 000165083 593__ $$aComputer Science Applications$$c2018$$dQ1 000165083 593__ $$aElectrical and Electronic Engineering$$c2018$$dQ1 000165083 593__ $$aControl and Systems Engineering$$c2018$$dQ1 000165083 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000165083 700__ $$0(orcid)0000-0003-0668-977X$$aNeira, J.$$uUniversidad de Zaragoza 000165083 700__ $$0(orcid)0000-0001-5977-8720$$aCastellanos, J.A.$$uUniversidad de Zaragoza 000165083 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000165083 7102_ $$15007$$2570$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Lenguajes y Sistemas Inf. 000165083 773__ $$g34, 3 (2018), 829-834$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098 000165083 8564_ $$s248497$$uhttps://zaguan.unizar.es/record/165083/files/texto_completo.pdf$$yVersión publicada 000165083 8564_ $$s3742824$$uhttps://zaguan.unizar.es/record/165083/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000165083 909CO $$ooai:zaguan.unizar.es:165083$$particulos$$pdriver 000165083 951__ $$a2025-12-12-14:42:19 000165083 980__ $$aARTICLE