Robotic Mapping and Exploration

  • Cyrill Stachniss

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 55)

Table of contents

  1. Front Matter
  2. Introduction

    1. Cyrill Stachniss
      Pages 3-6
    2. Cyrill Stachniss
      Pages 7-20
  3. Part I: Exploration with Known Poses

    1. Front Matter
      Pages 21-21
    2. Cyrill Stachniss
      Pages 43-71
  4. Part II: Mapping and Exploration under Pose Uncertainty

    1. Front Matter
      Pages 91-91
    2. Cyrill Stachniss
      Pages 117-134
    3. Cyrill Stachniss
      Pages 135-142
    4. Cyrill Stachniss
      Pages 143-160
    5. Cyrill Stachniss
      Pages 177-180
  5. Back Matter

About this book


"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping  (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.


autonom autonomous robot knowledge learning mobile robot robot uncertainty

Authors and affiliations

  • Cyrill Stachniss
    • 1
  1. 1.Institute of Computer Science, Autonomous Intelligent SystemsAlbert-Ludwigs-University of FreiburgFreiburgGermany

Bibliographic information

  • DOI
  • Copyright Information Springer Berlin Heidelberg 2009
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-01096-5
  • Online ISBN 978-3-642-01097-2
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site