[1]曹卫华,吴净斌,吴 敏,等.无路标环境下遥操作机器人SLAM系统[J].智能系统学报,2010,5(3):240-246.
 CAO Wei-hua,WU Jing-bin,WU Min,et al.A system for telerobotics in environments without landmarks[J].CAAI Transactions on Intelligent Systems,2010,5(3):240-246.
点击复制

无路标环境下遥操作机器人SLAM系统

参考文献/References:
[1]GOLDBERG K, MASCHA M, GENTNER S, et al. Desktop teleoperation via the world wide web[C]//Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Nagoya, Japan: 1995: 654659.
[2]LEONARD J, DURRANTWHYTE H. Simultaneous map building and localization for an autonomous mobile robot[C]//Proceedings of the IEEE International Workshop on Intelligent Robots and Systems. Osaka, Japan: 1991: 14421447.
[3]DURRANTWHYTE H, BAILEY T. Simultaneous localization and mapping (SLAM): part I the essential algorithms[J]. Robotics and Automation Magazine, 2006, 13(2): 99110.
[4]SMITH R, SELF M, CHESSEMAN P. Estimating uncertain spatial relationships in robotics[C]//Proceedings of the IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1987: 850.
[5]SMITH R, CHEESEMAN P. On the representation and estimation of spatial uncertainty[J]. The International Journal of Robotics Research, 1986, 5(4): 5668.
[6]CSORBA M. Simultaneous localization and map building[D]. Oxford: University of Oxford, 1997.
[7]DISSANAYAKE M W M G, NEWMAN P, CLARK S, et al. A solution to the simultaneous localization and map building (SLAM) problem[J]. IEEE Transactions on Robotics and Automation, 2001, 17 (3): 229241.
[8]CASTELLANOS J A, TARDOS J D. Mobile robot localization and map building: a multisensor fusion approach[J]. Automatica, 2003, 39(6): 11201121.
[9]THRUN S, BURGARD W, FOX D. A probabilistic approach to concurrent mapping and localization for mobile robots[J]. Machine Learning, 1998, 31(1/3): 2953.
[10]DEMPSTER A, LAIRD A, RUBIN D. Maximum likelihood from incomplete data via the EM algorithm[J]. Journal of the Royal Statistical Society: Series B (Methodological), 1997, 39(1): 138.
[11]BURGARD W, FOX D, JANS H, et al. Sonarbased mapping of largescale mobile robot environments using EM[C]//Proceedings of the 16th International Conference on Machine Learning. Bled, Slovenia: Morgan Kaufmann, 1999: 6776.
[12]THRUN S, BURGARD W, FOX D. A realtime algorithm for mobile robot mapping with application to multirobot and 3D mapping[C]//Proceedings of IEEE International Conference on Robotics and Automation. San Francisco, USA: IEEE, 2000: 321328.
[13]THRUN S, BEETZ M, BURGARD W, et al. Probabilistic algorithms and the interactive museum tourguided robot Minerva[J]. Journal of Robotics Research, 2000, 19(11): 9721000. 
[14]HANHEL D, SCHULZ D, BURGARD W. Mapping building with mobile robots in populated environments[C]//Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems. Lausanne, Switzerland: IEEE, 2002: 496501.
[15]MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM: a factored solution to the simultaneous location and mapping problem[C]//Proceedings of the AAAI National Conference on Artificial Intelligence. Edmonton, Canada: AAAI, 2002: 593598.
[16]MONTEMERLO M, THRUN S, KOLLER D, et al. FastSLAM 2.0: an improved particle filtering algorithm for simultaneous localization and mapping that provably converges[C]//Proceedings of the International Conference on Artificial Intelligence. Acapulco, Mexico: AAAI, 2003: 11511156.
[17]ARRAS K O, TOMATIS N, JENSEN B T, et al. Multisensor onthefly localization: precision and reliability for applications[J]. Robotics and Autonomous System, 2001, 34(2/3): 131143.
[18]JENSFELT P, KRISTENSEN S. Active global localization for a mobile robot using multiple hypothesis tracking[J]. IEEE Transactions on Robotics and Automation, 2001, 17(5): 748760.
[19]BORGES G A, ALDON M J. A splitandmerge segmentation algorithm for line extraction in 2D range images[C]//Proceedings of International Conference on Pattern Recognition. Barcelona, Spain: IEEE, 2000: 441444.
[20]JENSFELT P, CHRISTENSEN H. Laser based position acquisition and tracking in an indoor environment[C]//Proceedings of the International Symposium on Robotics and Automation. Saltillo, Coahuila, Mexico: IEEE, 1998: 331338.
[21]ULRICH I, BORENSTEIN J. VFH+: reliable obstacle avoidance for fast mobile robots[C]//Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium: IEEE, 1998: 15721577.

备注/Memo

收稿日期:2009-04-18.
基金项目:国家自然科学基金资助项目(60874042).
通信作者:吴净斌. E-mail: wjbwsb@gmail.com.
作者简介:

曹卫华,男,1972年生,教授、博士.主要研究方向为机器人技术、多智能体系统和生产过程智能控制.获省部级科技进步二等奖2项、三等奖1项,科技成果鉴定4项,发表学术论文20余篇.
吴净斌,男,1983年生,硕士研究生,主要研究方向为机器人技术、嵌入式系统和多智能体系统.
吴 敏,男,1963生,教授、博士生导师、博士,主要研究方向为过程控制、鲁棒控制和智能系统.获国家科技进步二等奖1项,省部级科技一等奖1项、二等奖4项、三等奖4项.发表学术论文257篇,出版专著3部、教材1部、译著2部.

更新日期/Last Update: 2010-07-14
Copyright © 《 智能系统学报》 编辑部
地址:(150001)黑龙江省哈尔滨市南岗区南通大街145-1号楼 电话:0451- 82534001、82518134 邮箱:tis@vip.sina.com