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    A simple, cost-effective and practical implementation of SLAM using ROS and Arduino

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    Authors
    Ibáñez, Adrián Lendínez
    Qiu, Renxi
    Li, Dayou
    Affiliation
    University of Bedfordshire
    Issue Date
    2018-02-01
    Subjects
    ROS
    particle filter
    Arduino
    Kalman filter
    SLAM
    
    Metadata
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    Abstract
    This paper aims to introduce the reader to the Simultaneous Localization and Mapping (SLAM) problem in the context of robot mapping by providing a real, simple and powerful implementation using the Robot Operating System (ROS) framework and Arduino technology. In addition to this, a modest, yet convenient, theoretical explanation of the algorithm (Rao-Blackwellization particle filter) used, is included. The creation of an inexpensive differential drive robot for this purpose is detailed along with the experiments conducted with the platform to map domestic environments. This work is targeted to students willing to get familiar with the presented subject by giving them the means to construct and code their own robot for 2D mapping.
    Citation
    Ibáñez A, Qiu R, Li D (2018) 'A simple, cost-effective and practical implementation of SLAM using ROS and Arduino', 2017 IEEE International Conference on Internet of Things (iThings) and IEEE Green Computing and Communications (GreenCom) and IEEE Cyber, Physical and Social Computing (CPSCom) and IEEE Smart Data (SmartData) - Exeter, Institute of Electrical and Electronics Engineers Inc..
    Publisher
    Institute of Electrical and Electronics Engineers Inc.
    URI
    http://hdl.handle.net/10547/623858
    DOI
    10.1109/iThings-GreenCom-CPSCom-SmartData.2017.128
    Additional Links
    https://ieeexplore.ieee.org/document/8276847
    Type
    Conference papers, meetings and proceedings
    Language
    en
    ISBN
    9781538630655
    ae974a485f413a2113503eed53cd6c53
    10.1109/iThings-GreenCom-CPSCom-SmartData.2017.128
    Scopus Count
    Collections
    Computing

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