Self-adaptive Synchronous Localization and Mapping using Runtime Feature Models

Christopher Werner, Sebastian Werner, René Schöne, Sebastian Götz, Uwe Aßmann

Abstract

Mobile autonomous robotic systems need to operate in unknown areas. For this, a plethora of simultaneous localization and mapping (SLAM) approaches has been proposed over the last decades. Although many of these existing approaches have been successfully applied even in real-world productive scenarios, they are typically designed for specific contexts (e.g., in-vs. outdoor, crowded vs. free areas, etc.). Thus, for different contexts, different SLAM algorithms should be used. In this paper, we propose a feature-based classification of SLAM algorithms and a reconfiguration approach to switch between existing SLAM implementations at runtime. By this, mobile robots are enabled to always use the most efficient implementation for their current contexts.

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Paper Citation


in Harvard Style

Werner C., Werner S., Schöne R., Götz S. and Aßmann U. (2018). Self-adaptive Synchronous Localization and Mapping using Runtime Feature Models.In Proceedings of the 7th International Conference on Data Science, Technology and Applications - Volume 1: EDDY, ISBN 978-989-758-318-6, pages 409-418. DOI: 10.5220/0006945504090418


in Bibtex Style

@conference{eddy18,
author={Christopher Werner and Sebastian Werner and René Schöne and Sebastian Götz and Uwe Aßmann},
title={Self-adaptive Synchronous Localization and Mapping using Runtime Feature Models},
booktitle={Proceedings of the 7th International Conference on Data Science, Technology and Applications - Volume 1: EDDY,},
year={2018},
pages={409-418},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006945504090418},
isbn={978-989-758-318-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Data Science, Technology and Applications - Volume 1: EDDY,
TI - Self-adaptive Synchronous Localization and Mapping using Runtime Feature Models
SN - 978-989-758-318-6
AU - Werner C.
AU - Werner S.
AU - Schöne R.
AU - Götz S.
AU - Aßmann U.
PY - 2018
SP - 409
EP - 418
DO - 10.5220/0006945504090418