Good Experimental Methodologies for Robotic Mapping: A Proposal

A way to significantly advance robotic science is to perform experiments that can be replicated by other researchers and be used to compare different methods. This happens rarely in current robotics research. In this paper we present a methodology for performing experimental activities in the area of robotic mapping. The proposed methodology prescribes a number of issues that should be addressed when experimentally validating a mapping method. We present the application of the proposed methodology to a mapping system we have developed.

Authors

• Francesco Amigoni
• Simone Gasparini
• Maria L. Gini

Keywords

• Proposals
• Robotics and automation
• Robot sensing systems
• Indoor environments
• Mobile robots
• Controllability
• Control systems
• Robot Mapping
• Active Area
• Mapping Method
• Mapping System
• Performance Of Method
• Replicate Experiments
• Accurate Mapping
• Robotic System
• Line Segment
• Segment Pairs
• Ground Truth Map
• Robot Pose
• Length Of The Line Segment