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Proceedings Paper

Application of simultaneous localization and mapping (SLAM) in autonomous exploration of urban environments
Author(s): Andrew R. Cooke; Phil Greenway; Mike le Maistre; Richard Manley; David Mullin; David Nicholson; James Swinnerton; Dimitris Valachis; Andy Wright
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Paper Abstract

This paper describes an autonomous navigation system capable of exploring an unknown environment, as implemented by the Advanced Technology Centre of BAE SYSTEMS (ATC). An overview of the enabling technology of the autonomous system, simultaneous localization and mapping (SLAM), is given before describing in detail the utility functions used to perform the strategic decision making required for autonomous exploration. Relevant studies, performed in simulation, of the major issues involved in multi-platform SLAM are also described. Initial results and conclusions are given at the end of the paper. All experiments are conducted on the Pioneer all terrain mobile robots using common off the shelf sensing devices.

Paper Details

Date Published: 25 August 2003
PDF: 11 pages
Proc. SPIE 5096, Signal Processing, Sensor Fusion, and Target Recognition XII, (25 August 2003); doi: 10.1117/12.487892
Show Author Affiliations
Andrew R. Cooke, BAE Systems (United Kingdom)
Phil Greenway, BAE Systems (United Kingdom)
Mike le Maistre, BAE Systems (United Kingdom)
Richard Manley, BAE Systems (United Kingdom)
David Mullin, BAE Systems (United Kingdom)
David Nicholson, BAE Systems (United Kingdom)
James Swinnerton, BAE Systems (United Kingdom)
Dimitris Valachis, BAE Systems (United Kingdom)
Andy Wright, BAE Systems (United Kingdom)


Published in SPIE Proceedings Vol. 5096:
Signal Processing, Sensor Fusion, and Target Recognition XII
Ivan Kadar, Editor(s)

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