Numerical and experimental realization of analytical SLAM

TL;DR

This paper explores the numerical implementation and real-world testing of an analytical SLAM algorithm, assessing its robustness and effectiveness in different hardware setups with various sensor configurations.

Contribution

It provides the first comprehensive numerical analysis and experimental validation of an analytical SLAM method on robotic hardware with different sensor setups.

Findings

Robustness of the analytical SLAM algorithm was successfully tested.

The algorithm effectively reconstructed environment maps using bearing and radial distance measurements.

Performance was validated through real hardware experiments in two different configurations.

Abstract

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.