Active SLAM in 3D deformable environments

Mengya Xu; Liang Zhao; Shoudong Huang; Qi Hao

doi:10.1109/IROS47612.2022.9982224

Active SLAM in 3D deformable environments

Mengya Xu, Liang Zhao, Shoudong Huang, Qi Hao^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available4.

Original language	English
Title of host publication	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	7952-7958
Number of pages	7
ISBN (Electronic)	9781665479271
DOIs	https://doi.org/10.1109/IROS47612.2022.9982224
Publication status	Published - 26 Dec 2022
Event	The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 https://iros2022.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2022
Country/Territory	Japan
City	Kyoto
Period	23/10/22 → 27/10/22
Internet address	https://iros2022.org/

Access to Document

10.1109/IROS47612.2022.9982224

Cite this

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title = "Active SLAM in 3D deformable environments",

abstract = "This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available4.",

author = "Mengya Xu and Liang Zhao and Shoudong Huang and Qi Hao",

year = "2022",

month = dec,

day = "26",

doi = "10.1109/IROS47612.2022.9982224",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "7952--7958",

booktitle = "2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022",

url = "https://iros2022.org/",

}

Xu, M, Zhao, L, Huang, S & Hao, Q 2022, Active SLAM in 3D deformable environments. in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers, pp. 7952-7958, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9982224

Active SLAM in 3D deformable environments. / Xu, Mengya; Zhao, Liang; Huang, Shoudong et al.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, 2022. p. 7952-7958 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Active SLAM in 3D deformable environments

AU - Xu, Mengya

AU - Zhao, Liang

AU - Huang, Shoudong

AU - Hao, Qi

PY - 2022/12/26

Y1 - 2022/12/26

N2 - This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available4.

AB - This paper considers active SLAM problem for 3D deformable environments where the trajectory of the robot is planned to optimize the SLAM results. A planning strategy combining an efficient global planner with an accurate local planner is proposed to solve the problem. Simulation results under different scenarios have shown that the proposed active SLAM algorithm provides a good balance between accuracy and efficiency as compared to the local planner and the global planner. The MATLAB code of this first active SLAM algorithm for 3D deformable environments is made publicly available4.

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DO - 10.1109/IROS47612.2022.9982224

M3 - Conference contribution

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SP - 7952

EP - 7958

BT - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 23 October 2022 through 27 October 2022

ER -

Active SLAM in 3D deformable environments

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