RT Dissertation/Thesis
T1 Contributions to Localization, Mapping and Navigation in Mobile Robotics
A1 Blanco-Claraco, José Luis
K1 Robots autónomos - Tesis doctorales
AB This thesis focuses on the problem of enabling mobile robots to autonomously buildworld models of their environments and to employ them as a reference to self–localizationand navigation.For mobile robots to become truly autonomous and useful, they must be able ofreliably moving towards the locations required by their tasks. This simple requirementgives raise to countless problems that have populated research in the mobile roboticscommunity for the last two decades. Among these issues, two of the most relevantare: (i) secure autonomous navigation, that is, moving to a target avoiding collisionsand (ii) the employment of an adequate world model for robot self-referencing withinthe environment and also for locating places of interest. The present thesis introducesseveral contributions to both research fields.Among the contributions of this thesis we find a novel approach to extend SLAMto large-scale scenarios by means of a seamless integration of geometric and topologicalmap building in a probabilistic framework that estimates the hybrid metric-topological(HMT) state space of the robot path. The proposed framework unifies the research areasof topological mapping, reasoning on topological maps and metric SLAM, providingalso a natural integration of SLAM and the “robot awakening” problem.Other contributions of this thesis cover a wide variety of topics, such as optimalestimation in particle filters, a new probabilistic observation model for laser scannersbased on consensus theory, a novel measure of the uncertainty in grid mapping, anefficient method for range-only SLAM, a grounded method for partitioning large mapsinto submaps, a multi-hypotheses approach to grid map matching, and a mathematicalframework for extending simple obstacle avoidance methods to realistic robots.
PB Servicio de Publicaciones y Divulgación Científica
YR 2009
FD 2009
LK http://hdl.handle.net/10630/9841
UL http://hdl.handle.net/10630/9841
LA eng
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 28 feb 2026