Campus Event Calendar

Event Entry

What and Who

Probabilistic Techniques for Mobile Robot Mapping and Exploration

Wolfram Burgard
Institut für Informatik,Albert-Ludwigs-Uni Freiburg
MPI Colloquium Series Distinguished Speaker
AG 1, AG 2, AG 3, AG 4, AG 5, SWS  
MPI Audience

Date, Time and Location

Tuesday, 19 September 2006
45 Minutes
E1 4


In recent years, probabilistic techniques have enabled novel and innovative solutions to some of the most important problems in mobile

robotics. Major challenges in the context of probabilistic algorithms for mobile robot navigation lie in the questions of how to deal with
highly complex state estimation problems and how to control the robot so that it efficiently carries out its task. In this talk I will
discuss both aspects and present some techniques currently being developed in my group regarding the problem of autonomously learning a
map of an unknown environment with a mobile robot. I will first present an efficient approach based on particle filters to solve the
simultaneous mapping and localization problem. Then I will describe how this approach can be combined with an exploration strategy that
simultaneously takes into account the uncertainty in the pose of the robot and in the map. For all algorithms I will present experimental
results, which have been obtained with mobile robots in real-world environments as well as in simulation. I will conclude the
presentation with a discussion of open issues and potential directions for future research.


Roxane Wetzel
--email hidden
passcode not visible
logged in users only

Roxane Wetzel, 09/18/2006 08:52
Roxane Wetzel, 09/08/2006 08:49
Roxane Wetzel, 09/01/2006 10:50
Roxane Wetzel, 08/23/2006 16:01
Roxane Wetzel, 08/23/2006 15:59 -- Created document.