Class #14: Mapping and Inspecting Environments

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• Topics:
  - Incremental map building
  - Where to go next?
  - Next-best view planning
  - Inspection tours
• Required Readings:
• Next-Best-View planning:
  H. Gonzalez-Banos and J.C. Latombe. Navigation Strategies for Exploring Indoor Environments. Int. J. Robotics Research, 2003. [pdf]
  
  
• Planning inspection paths:
  T. Danner and L.E. Kavraki. Randomized Planning for Short Inspection Paths. IEEE International Conference on Robotics and Automation, San Francisco, April 2000. [pdf]
• Other Reading:
• Survey of research on mapping:
  S. Thrun. Robotic Mapping: A Survey. Report CMU-CS-02-111, Computer Science Dept. CMU, February 2001. [pdf]

· Powerpoint slides:

o Introduction

o Paper 1

o Paper 2