Simultaneous Localization and Map Building

We have developed state estimation techniques for the simultaneous localization and map building (SLAM) problem. Both deterministic (set-membership) and probabilistic descriptions of the uncertainty are considered. Different environment representations are adopted (pointwise landmarks and linear features). The developed algorithms are suitably extended to the multi-robot scenario.

You can find more information in the following publications or by watching these videos.

Set-membership techniques

Single-robot SLAM

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2001). Set membership pose estimation of mobile robots based on angle measurements. Proceedings of the 40th IEEE Conference on Decision and Control.
PDF

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2002). Dynamic robot localization and mapping using uncertainty sets. Proceedings of the 15th IFAC World Congress.
PDF

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2004). A set theoretic approach to dynamic robot localization and mapping. Autonomous Robots.
PDF DOI
Multi-robot SLAM

M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2003). Simultaneous localization and map building for a team of cooperating robots: A set membership approach. IEEE Transactions on Robotics and Automation.
PDF DOI

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2006). Set membership localization and map building for mobile robots. Current trends in nonlinear systems and control.
PDF DOI
Maximally informative path planning

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani (2004). A set theoretic approach to path planning for mobile robots. Proceedings of the 43rd IEEE Conference on Decision and Control.
PDF

N. Ceccarelli, M. Di Marco, A. Garulli, A. Giannitrapani, A. Vicino (2011). Path planning with uncertainty: A set membership approach. International Journal of Adaptive Control and Signal Processing.
PDF DOI

Probabilistic techniques

Single-robot SLAM using linear features

A. Garulli, A. Giannitrapani, A. Rossi, A. Vicino (2005). Mobile robot SLAM for line-based environment representation. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference.
PDF

A. Garulli, A. Giannitrapani, A. Rossi, A. Vicino (2005). Simultaneous localization and map building using linear features. Proceedings of the 2nd European Conference on Mobile Robots.
PDF
Multi-robot SLAM with M-Space feature representation

D. Benedettelli, A. Garulli, A. Giannitrapani (2010). Multi-robot SLAM using M-Space feature representation. Proceedings of the 49th IEEE Conference on Decision and Control.
PDF

D. Benedettelli, A. Garulli, A. Giannitrapani (2012). Cooperative SLAM using M-Space representation of linear features. Robotics and Autonomous Systems.
PDF DOI