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1. A reminder of single-bot SLAM
1.1 Definitions
The literature sometimes gives definitions that can have different interpretations depending on the context. To avoid any ambiguity, we define here the terms that will be used in the rest of the article.
Position: Cartesian coordinates of a robot. In the plane, position is given by the coordinates {X, Y}.
Pose: position and orientation of a robot. In the plane, pose is given by coordinates {X, Y} and orientation {θ}.
Localization: calculating the position of a robot in its environment.
Mapping: action of creating a partial or complete map of the robot(s) environment.
Navigation: the action of moving robots. The purpose of navigation can be to map the...
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A reminder of single-bot SLAM
Multi-robot systems
Bibliography
Websites
STACHNISS Cyrill, FRESE Udo, GRISETTI Giorgio OpenSLAM. A website grouping and comparing software implementations of most SLAM techniques.
Open Source Robotics Foundation Robot Operating System (ROS). Robotics tools and libraries, including several SLAM implementations.
Patents
ERMAKOV Vladimir, WOODWARD Mark, AUGENBRAUN Joe, Localization and mapping system and method for a robotic device, Patent number US8483881B2, September 2005.
LUCIDARME Philippe and LAGRANGE Sébastien. Generation of map data. Slam-o-matic (Slam algorithm based on global search of local minima). Patent number FR1155625 and US2014142891, June 2011.
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