7 accepted papers
The COVID-19 pandemic has become a worldwide concern and has motivated the entire scientific community to join efforts to fight it. Studies have shown that SARS-CoV-2 remains viable onsurfaces for days, increasing the chances of human infection. Environmental disinfection is thus an important action
Many applications with mobile robots require self-localization in indoor maps. While such maps can be previously generated by SLAM strategies, there are various localization approaches that use 2D floor plans as reference input. In this paper, we present a localization strategy using floor plan as m…
Service robots are becoming a reality across homes. Still, the range of applications supported by such robots remains tied to their ability to self-localize in the environment. Man-made constructions often have a documented blueprint which can be used as input information for robot localization and…
Proper place recognition on an environment that can change over time is fundamental for long-term SLAM. In such scenarios the observations obtained in the same region can drastically differ due to changes caused by semi-static objects, such as doors, furniture, etc. In this work, we extend a strateg…
Estimating the robot localization is a fundamental requirement for applications in robotics. For many years, Monte Carlo Localization (MCL) has been one of the most popular approaches to solve the global localization when using range finders, like sonars or lasers. It generally weights the estimates…
An autonomous robot requires a map of the environment for many tasks. Yet, in many cases, this map is unavailable and the robot must build one in real-time, in the so-called integrated exploration task. Several integrated exploration approaches adopt some sort of loop-closing strategy combined with…
Place recognition is the frond-end of Simultaneous Localization and Mapping (SLAM). Topological representations depend on good association of vertices, which ultimately depends on the front-end. In this paper, we consider a robot lost in an unknown environment trying to construct a topological map t…