Henry Carrillo — accepted AI-conference papers

2015

Autonomous robotic exploration using occupancy grid maps and graph SLAM based on Shannon and Rényi Entropy

Henry Carrillo, Philip Dames, Vijay Kumar, José A. Castellanos

ICRA 2015poster

In this paper we examine the problem of autonomously exploring and mapping an environment using a mobile robot. The robot uses a graph-based SLAM system to perform mapping and represents the map as an occupancy grid. In this setting, the robot must trade-off between exploring new area to complete th…

Cited by 125 Source ↗Scholar ↗

2015

On the monotonicity of optimality criteria during exploration in active SLAM

Henry Carrillo, Yasir Latif, Maria L. Rodriguez-Arevalo, José Neira, José A. Castellanos

ICRA 2015poster

In this paper we investigate the monotonicity of various optimality criteria during the exploration phase of an active SLAM algorithm. Optimality criteria such as A-opt, D-opt or E-opt are used in active SLAM to account for uncertainty in the map or the robot's pose, and these criteria are usually p…

Cited by 42 Source ↗Scholar ↗