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Optimizing exploration with a new uncertainty framework for active SLAM systems

delete2025-06-02
delete0
PRE
AI
S
Sebastián Sansoni *
J
Javier Giménez
G
Gastón Castro
S
Santiago Tosetti
F
Flavio Capraro
DOI：10.1016/j.robot.2025.105059delete
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摘要

摘要

En 中文
• 提出了一种新的主动SLAM不确定性模型，构建了不确定性地图（UM）。 • 通过UM提出不确定性前沿，提升精度并作为停止准则。 • 设计了符号相对熵（SiREn）指数，融合了地图不确定性与覆盖率。 • 提出了一种统一的理论框架，并通过实验验证。

期刊

Robotics and Autonomous Systems 封面图
Robotics and Autonomous Systems
IF:
5.2
论文数:
765
被引数:
1.0W

机构

U
universidad nacional de san juan - conicet
学者数:
4
论文数: 1
被引数: 0
F
French Argentine International Center for Information and Systems Sciences
学者数:
1
论文数: 1
被引数: 0
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