Lighthouses and Global Graph Stabilization: Active SLAM for Low-compute, Narrow-FoV Robots
Mohit Deshpande,Richard Kim,Dhruva Kumar,Jong Jin Park,Jim Zamiska,Mohit Deshpande,Richard Kim,Dhruva Kumar,Jong Jin Park,Jim Zamiska
Autonomous exploration to build a map of an unknown environment is a fundamental robotics problem. However, the quality of the map directly influences the quality of subsequent robot operation. Instability in a simultaneous localization and mapping (SLAM) system can lead to poor-quality maps and subsequent navigation failures during or after exploration. This becomes particularly noticeable in con...
