165083 20260116150735.0 doi 10.1109/TRO.2018.2808902 sideral 106850 ART-2018-106850 eng Rodriguez-Arevalo, M.L. Universidad de Zaragoza (orcid)0000-0002-6108-6069 On the Importance of Uncertainty Representation in Active SLAM 2018 Access copy available to the general public Unrestricted The 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. info:eu-repo/grantAgreement/ES/DGA/T04 info:eu-repo/grantAgreement/ES/MINECO/BES-2013-064129 info:eu-repo/grantAgreement/ES/MINECO/DPI2015-68905-P info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 6.483 2018 ROBOTICS 2 / 26 = 0.077 2018 Q1 T1 1.987 2018 Computer Science Applications 2018 Q1 Electrical and Electronic Engineering 2018 Q1 Control and Systems Engineering 2018 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Neira, J. Universidad de Zaragoza (orcid)0000-0003-0668-977X Castellanos, J.A. Universidad de Zaragoza (orcid)0000-0001-5977-8720 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5007 570 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Lenguajes y Sistemas Inf. 34, 3 (2018), 829-834 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 238499 http://zaguan.unizar.es/record/165083/files/texto_completo.pdf Postprint 3444215 http://zaguan.unizar.es/record/165083/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:165083 articulos driver 2026-01-16-15:06:07 ARTICLE