Exploration and Mapping
with Mobile Robots

Cyrill Stachniss

PhD Thesis

University of Freiburg, Germany, April 2006

General Information

• Abstract
• Summary (in German)
• Acknowledgments
• PDF document (244 pages)
• BibTeX entry of the PhD thesis / BibTeX entries for all publications.
• Publication list

Multimedia Material & Log Files

• Efficient Techniques for Rao-Blackwellized Mapping (Chapter 6)
• Information Gain-based Exploration (Chapter 9)
• Actively Closing Loops During Exploration (Chapter 7)
• Recovering Particle Diversity (Chapter 8)
• Coordinated Multi-Robot Exploration (Chapter 4/5)
• Decision-Theoretic Exploration Using Coverage Maps (Chapter 3)