ActiveSLAM

This is implementation of "Information-based Active SLAM via Topological Feature Graphs"

Installation

This project based on ros and turtlebot, please setup the right ROS environment first The code is written in C++ and as a ROS package. This project uses isam slam solver, which is already included as source code.

Citations

Please cite the original paper.

@inproceedings{beipengmu2016cdc,
	author={Beipeng Mu and Matthew Giamou and Liam Paull and John Leonard and Jonathan P. How},
	Booktitle = {IEEE Conference on Decision and Control (CDC)},
	Keywords = {SLAM, path planning},
	Month = {December},
	Title = {Information-based Active SLAM via Topological Feature Graphs},
	Year = {2016}
}