Time optimal robot motion control in simultaneous localization and map building (SLAM) problem

Huang, S; Wang, Z; Dissanayake, G

Time optimal robot motion control in simultaneous localization and map building (SLAM) problem

Huang, S

Wang, Z Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, 3 pp. 3110 - 3115
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Wang, Z	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, 3 pp. 3110 - 3115	en_US
dc.identifier.isbn	0780384636	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2627
dc.description.abstract	This paper provides a technique for minimal time robot motion control in the estimation-theoretic based simultaneous localizations and map building (SLAM) problem. We consider the scenario that the robot needs to go to a destination which is a prescribed location in the coordinate system referenced by its starting position. The task of the robot is to reach the destination within minimal time while localizing itself and building a map of the environment with a prescribed accuracy. This task may be a real navigation task or may be a subtask in a SLAM problem of a large unknown environment. A global sub-optimal control law is derived using dynamic programming techniques.	en_US
dc.relation.ispartof	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)	en_US
dc.title	Time optimal robot motion control in simultaneous localization and map building (SLAM) problem	en_US
dc.type	Conference Proceeding
utslib.citation.volume	3	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Sendai, Japan	en_US
dc.location.activity	Wollongong, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	3	en_US

Abstract:

This paper provides a technique for minimal time robot motion control in the estimation-theoretic based simultaneous localizations and map building (SLAM) problem. We consider the scenario that the robot needs to go to a destination which is a prescribed location in the coordinate system referenced by its starting position. The task of the robot is to reach the destination within minimal time while localizing itself and building a map of the environment with a prescribed accuracy. This task may be a real navigation task or may be a subtask in a SLAM problem of a large unknown environment. A global sub-optimal control law is derived using dynamic programming techniques.

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http://hdl.handle.net/10453/2627