Design of a Hybrid-Range-LiDAR SLAM algorithm: a graph-based approach to SLAM using ultra-wideband radios

A fundamental prerequisite for many robot-tasks is the availability of an environment model. The ability of a robot to create such a model itself is crucial to having truly autonomous robots around in our daily lives. For basic robot-tasks, a two-dimensional grid-map that describes a distinction between inhabitable and uninhabitable space is a...