Christian Debrunner

ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations

In this paper, we introduce an ambiguity-aware robust active SLAM (ARAS) framework that makes use of multi-hypothesis state and map estimations to achieve better robustness. Ambiguous measurements can result in multiple probable solutions in a multi-hypothesis SLAM (MH-SLAM) system if they are tempo…