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Fast Autonomous Robotic Exploration Using the Underlying Graph Structure

2022-04-22 10:02:47
Julio A. Placed, José A. Castellanos
arXiv_RO
             
Abstract

In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory Optimal Experimental Design. We validate the proposed relationships in 2D and 3D graph SLAM datasets, showing a remarkable relaxation of the computational load when using the graph structure. Furthermore, we present a novel Active SLAM framework which outperforms traditional methods by successfully leveraging the graphical facet of the problem so as to autonomously explore an unknown environment.

Abstract (translated)

URL

https://arxiv.org/abs/2204.10610

PDF

https://arxiv.org/pdf/2204.10610.pdf

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