TitleOn The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles
Publication TypeBook Chapter
Year of Publication2004
AuthorsBicchi, A, Lorussi, F, Murrieri, P, Scordio, VG
EditorSiciliano, B, De Luca, A, Melchiorri, C, Casalino, G
Book TitleAdvances in Control of Articulated and Mobile Robots
Series TitleSTAR - Springer Tracts in Advanced Robotics
Series Volume10
PublisherSpringer Verlag
KeywordsEmbedded Control, Robotics

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.

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