A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs

Tully, Stephen; Kantor, George; Choset, Howie; Werner, Felix

doi:10.1109/iros.2009.5354255

Cited by 23 publications

(30 citation statements)

References 15 publications

(18 reference statements)

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“…Tully et al [16] proposed a hypothesis tree approach for loop-closing where the branches that are deemed to be unlikely based on metric and topological GVG information are pruned. Among their pruning tests, it is worthwhile to mention the planarity test which ensures that once a loopclosure has been accepted, the resulting GVG graph has to be planar.…”

Section: Related Workmentioning

confidence: 99%

Ear-based exploration on hybrid metric/topological maps

Zhang

Whitney

Shkurti

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we propose a hierarchy of techniques for performing loop closure in indoor environments together with an exploration strategy designed to reduce uncertainty in the resulting map. We use the Generalized Voronoi Graph to represent the indoor environment and an extended Kalman filter to track the pose of the robot and the position of the junctions (vertices) of the topological graph. Every time some vertex is revisited, the robot re-localizes and updates the filter accordingly. Finally, since the reduction of the map uncertainty remains one of the main concerns, the robot will optimize its schedule of revisiting junctions in the environment in order to reduce the accumulated uncertainty. Experimental results from a mobile robot equipped with a laser range-finder and results from realistic simulations that validate our approach are presented.

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Section: Related Workmentioning

confidence: 99%

Ear-based exploration on hybrid metric/topological maps

Zhang

Whitney

Shkurti

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…al in [4] propose a hierarchical map where the GVG serves as a high-level representation of the environment that organizes a collection of lower level featurebased submaps. This hierarchical map was later used for efficient topological localization [9] and multi-hypothesis SLAM [10] in large-scale environments. We note that many of the ideas we present in this paper can be easily extended to a hierarchical approach via the inclusion of additional metric information along the edges in the S-GVG topological graph.…”

Section: Related Workmentioning

confidence: 99%

“…In [12], a RaoBlackwellized particle filter is implemented over the space of topologies. In [10], we propose a similar probabilistically grounded multi-hypothesis technique that builds a map/state hypothesis tree for topological SLAM. The SLAM method we are proposing in this paper for the S-GVG is an extension of our previous work and customizes the SLAM algorithm for dealing with a combination of both saturated and conventional GVG regions.…”

Section: Related Workmentioning

confidence: 99%

“…This section introduces a topological SLAM approach that handles loop-closing with a multi-hypothesis filter. This type of SLAM approach is an extension of previous work [10], although we are presenting here, for the first time, a version of multi-hypothesis SLAM that is specific to the S-GVG.…”

Section: Topological Slam Using the S-gvgmentioning

confidence: 99%

“…To do this, we maintain a hypothesis tree where each level of the tree corresponds to a different time-step. The tree structure we maintain is similar to that in [10], [14], [15].…”

Section: A Constructing a Hypothesis Treementioning

confidence: 99%

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Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM

Tang

Tully

Kantor

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-The generalized Voronoi graph (GVG) is a topological representation of an environment that can be incrementally constructed with a mobile robot using sensor-based control. However, because of sensor range limitations, the GVG control law will fail when the robot moves into a large open area. This paper discusses an extended GVG approach to topological navigation and mapping: the saturated generalized Voronoi graph (S-GVG), for which the robot employs an additional wall-following behavior to navigate along obstacles at the range limit of the sensor. In this paper, we build upon previous work related to the S-GVG and provide two important contributions: 1) a rigorous discussion of the control laws and algorithm modifications that are necessary for incremental construction of the S-GVG with a mobile robot, and 2) a method for incorporating the S-GVG into a novel multi-hypothesis SLAM algorithm for loop-closing and localization. Experiments with a wheeled mobile robot in an office-like environment validate the effectiveness of the proposed approach.

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Robot Teams for Intervention in Confined and Structured Environments

Tardioli

Sicignano

Riazuelo

et al. 2015

Journal of Field Robotics

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Safety, security, and rescue robotics can be extremely useful in emergency scenarios such as mining accidents or tunnel collapses where robot teams can be used to carry out cooperative exploration, intervention, or logistic missions. Deploying a multirobot team in such confined environments poses multiple challenges that involve task planning, motion planning, localization and mapping, safe navigation, coordination, and communications among all the robots. To complete their mission, robots have to be able to move in the environment with full autonomy while at the same time maintaining communication among themselves and with their human operators to accomplish team collaboration. Guaranteeing connectivity enables robots to explicitly exchange information needed in the execution of collaborative tasks and allows operators to monitor and teleoperate the robots and receive information about the environment. In this work, we present a system that integrates several research aspects to achieve a real exploration exercise in a tunnel using a robot team. These aspects are as follows: deployment planning, semantic feature recognition, multirobot navigation, localization, map building, and real-time communications. Two experimental scenarios have been used for the assessment of the system. The first is the Spanish Santa Marta mine, a large mazelike environment selected for its complexity for all the tasks involved. The second is the Spanish-French Somport tunnel, an old railway between Spain and France through the Central Pyrenees, used to carry out the real-world experiments. The latter is a simpler scenario, but it serves to highlight the real communication issues. C 2015 Wiley Periodicals, Inc.

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A multi-hypothesis topological SLAM approach for loop closing on edge-ordered graphs

Cited by 23 publications

References 15 publications

Ear-based exploration on hybrid metric/topological maps

Ear-based exploration on hybrid metric/topological maps

Incremental construction of the saturated-GVG for multi-hypothesis topological SLAM

Robot Teams for Intervention in Confined and Structured Environments

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