01556nas a2200229 4500008004100000245009900041210006900140260002000209300001200229520078400241653002101025653001301046100001501059700001601074700001601090700001701106700001701123700001601140700001801156700001601174856013601190 2004 eng d00aOn The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles0 aProblem of Simultaneous Localization Map Building and Servoing o bSpringer Verlag a223-2393 a
In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.
10aEmbedded Control10aRobotics1 aBicchi, A.1 aLorussi, F.1 aMurrieri, P1 aScordio, V G1 aSiciliano, B1 aDe Luca, A.1 aMelchiorri, C1 aCasalino, G uhttp://www.centropiaggio.unipi.it/publications/problem-simultaneous-localization-map-building-and-servoing-autonomous-vehicles.html