2006
DOI: 10.5772/5754
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Abstract: Autonomous robot world modelling is a "chicken-and-egg" problem: position estimation needs a model of the world, whereas world modelling needs the robot position. Most of the works dealing with this issue propose holistic solutions under an algorithmic perspective by neglecting software architecture issues. This results in huge and monolithic pieces of software where implementation details reify strategic decisions. An architectural approach founded on separation of concerns may help to break the loop. Localis… Show more

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“…In the probabilistic approach, the SLAM problem is considered as a filtering problem in which the control input and robot observations are known and the robot pose and landmark locations are the desired unknown states. Although other approaches have been used to solve the SLAM problem, probabilistic approach has been remained as the mainstream of the SLAM literature [2].…”
Section: Introductionmentioning
confidence: 99%
“…In the probabilistic approach, the SLAM problem is considered as a filtering problem in which the control input and robot observations are known and the robot pose and landmark locations are the desired unknown states. Although other approaches have been used to solve the SLAM problem, probabilistic approach has been remained as the mainstream of the SLAM literature [2].…”
Section: Introductionmentioning
confidence: 99%