This mograph covers theoretical aspects of simultaneous localization and map building for mobile robots. These include estimation stability, nlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this mograph is the theoretical formalism of partial observability in SLAM.
Alberto Sanfeliu, Juan Andrade-Cetto
Springer-Verlag Berlin and Heidelberg GmbH & Co. KG