ARAS: Ambiguity-aware Robust Active SLAM based on Multi-hypothesis State and Map Estimations
Ming Hsiao,Joshua G. Mangelson,Sudharshan Suresh,Christian Debrunner,Michael Kaess,Ming Hsiao,Joshua G. Mangelson,Sudharshan Suresh,Christian Debrunner,Michael Kaess
In this paper, we introduce an ambiguity-aware robust active SLAM (ARAS) framework that makes use of multi-hypothesis state and map estimations to achieve better robustness. Ambiguous measurements can result in multiple probable solutions in a multi-hypothesis SLAM (MH-SLAM) system if they are temporarily unsolvable (due to insufficient information), our ARAS aims at taking all these probable esti...
