Numerical and experimental realization of analytical SLAM
This work addresses the practical application of SLAM for robotics, but it is incremental as it focuses on testing an existing analytical method in hardware without introducing new algorithmic innovations.
The authors tackled the problem of implementing an analytical SLAM method in real-world robotic hardware by testing its robustness and applying it in two experimental setups, one using bearing angle and radial distance measurements and another using only bearing angle information, with results showing successful map recovery but lacking concrete numerical performance metrics.
Analytical approach to SLAM problem was introduced in the recent years. In our work we investigate the method numerically with the motivation of using the algorithm in a real hardware experiments. We perform a robustness test of the algorithm and apply it to the robotic hardware in two different setups. In one we try to recover a map of the environment using bearing angle measurements and radial distance measurements. The another setup utilizes only bearing angle information.