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    An 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
    2018-02-08
    Subjects
    ROS
    SLAM
    particle filter
    Arduino
    Kalman filter
    
    Metadata
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    Abstract
    This paper aims to explore the Simultaneous Localization and Mapping (SLAM) problem in the context of implementation using the Robot Operating System (ROS) framework and the Arduino technology. The implementation of an inexpensive differential drive robot for SLAM is detailed and verified by mapping experiments conducted within domestic environments. Furthermore, a modest, yet convenient, theoretical explanation of the algorithm (Rao-Blackwellization particle filter) behind the platform is also presented. Overall, this report leads to a simple and cost effective way - including a code base and guidelines - to create robots for 2D mapping using modern technologies such as ROS.
    Citation
    Ibanez A, Qiu R, Li D (2018) 'An implementation of SLAM using ROS and Arduino', 2017 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) - Shanghai, Institute of Electrical and Electronics Engineers Inc..
    Publisher
    Institute of Electrical and Electronics Engineers Inc.
    URI
    http://hdl.handle.net/10547/623867
    DOI
    10.1109/3M-NANO.2017.8286298
    Additional Links
    https://ieeexplore.ieee.org/document/8286298
    Type
    Conference papers, meetings and proceedings
    Language
    en
    ISBN
    9781538610817
    ae974a485f413a2113503eed53cd6c53
    10.1109/3M-NANO.2017.8286298
    Scopus Count
    Collections
    Computing

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