Local Accuracy in Global Uncertainty: The Design of a Particle Filter Based Hybrid Metric-Topological Mapping and Localization Framework

Mobile robots need to interact with their environment to perform their tasks. To be successful they often need to know what their surrounding looks like, and where they are located in that surrounding. The act of simultaneously estimating both the state of the robot and the state of the environment is called Simultaneous Localization And Mapping...

Gaining by forgetting: Towards long-term mobile robot autonomy in large scale environments using a novel hybrid metric-topological mapping system

The emerging of mobile robots in everyday life scenarios, such as in the case of domestic care robots, is highly anticipated. Much research has been carried out to make robots more capable of performing tasks in our everyday environments. Despite major progress over the last decades, many hurdles are still to be taken. In the field of robotic...