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Sensor-Based Simultaneous Localization and Mapping - Part ...
Sensor-Based Simultaneous Localization and Mapping Part I:GAS Robocentric FilterBruno J. Guerreiro, Pedro Batista, Carlos Silvestre, and Paulo OliveiraAbstract This paper presents the design, analysis, and ex-perimental validation of a Sensor-Based globally asymptoticallystable (GAS) filter for Simultaneous Localization and Mapping (SLAM) with application to uninhabited aerial vehicles (UAVs).The SLAM problem is first formulated in a sensor -basedframework, without any type of vehicle pose information, andmodified in such a way that the underlying system structurecan be regarded as linear time varying for observability, filterdesign, and convergence analysis purposes.
simultaneous localization and mapping (SLAM) algorithm. The underlying standard assumption is that the environment is fairly structured in the vertical direction.
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