4 accepted papers
Loops are pervasive in robotics problems; appearing in mapping and localization; where one is interested in finding loop closure constraints to better approximate robot poses or other estimated quantities; as well as planning and prediction; where one is interested in the homotopy classes of the spa…
We present a new 3D probabilistic occupancy map representation for robotics applications by relaxing the commonly-assumed constraint that space must be perfectly tessellated. We replace the regular structure of 3D grids with an unstructured collection of non-overlapping, equally-sized spheres, which…
We demonstrate distributed, online, and real-time cooperative localization and mapping between multiple robots operating throughout an unknown environment using indirect measurements. We present a novel Expectation Maximization (EM) based approach to efficiently identify inlier multi-robot loop clos…
We propose information-theoretic strategies for Occupancy Grid (OG) compression to enable high-speed exploration on computationally constrained mobile robots. We first formulate optimal lossy compression for OGs based on the Principle of Relevant Information. The solution to this formulation is a si…