{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T13:31:38Z","timestamp":1760707898321,"version":"3.38.0"},"reference-count":39,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2008,1,1]],"date-time":"2008-01-01T00:00:00Z","timestamp":1199145600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,1]]},"abstract":"<jats:p> Rao\u2014Blackwellized particle filters (RBPFs) are an implementation of sequential Bayesian filtering that has been successfully applied to mobile robot simultaneous localization and mapping (SLAM) and exploration. Measuring the uncertainty of the distribution estimated by a RBPF is required for tasks such as information gain-guided exploration or detecting loop closures in nested loop environments. In this paper we propose a new measure that takes the uncertainty in both the robot path and the map into account. Our approach relies on the entropy of the expected map (EM) of the RBPF, a new variable built by integrating the map hypotheses from all of the particles. Unlike previous works that use the joint entropy of the RBPF for active exploration, our proposal is better suited to detect opportunities to close loops, a key aspect to reduce the robot path uncertainty and consequently to improve the quality of the maps being built. We provide a theoretical discussion and experimental results with real data that support our claims. <\/jats:p>","DOI":"10.1177\/0278364907082610","type":"journal-article","created":{"date-parts":[[2007,12,18]],"date-time":"2007-12-18T12:54:13Z","timestamp":1197982453000},"page":"73-89","source":"Crossref","is-referenced-by-count":55,"title":["A Novel Measure of Uncertainty for Mobile Robot SLAM with Rao\u2014Blackwellized Particle Filters"],"prefix":"10.1177","volume":"27","author":[{"given":"J.L.","family":"Blanco","sequence":"first","affiliation":[{"name":"Department of System Engineering and Automation, University of M\u00e1laga, 29071 M\u00e1laga, Spain, jlblanco,@ctima.uma.es"}]},{"given":"J.A.","family":"Fern\u00e1ndez-Madrigal","sequence":"additional","affiliation":[{"name":"Department of System Engineering and Automation, University of M\u00e1laga, 29071 M\u00e1laga, Spain,"}]},{"given":"J.","family":"Gonzalez","sequence":"additional","affiliation":[{"name":"Department of System Engineering and Automation, University of M\u00e1laga, 29071 M\u00e1laga, Spain,"}]}],"member":"179","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Blanco, J.","key":"atypb2"},{"volume-title":"Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation","author":"Bourgault, F.","key":"atypb3"},{"volume-title":"Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence (IJCAI)","author":"Burgard, W.","key":"atypb4"},{"key":"atypb5","first-page":"476","volume":"1","author":"Burgard, W.","year":"2000","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1002\/0471200611"},{"key":"atypb7","volume":"2","author":"Dellaert, F.","year":"1999","journal-title":"Monte Carlo localization for mobile robots."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"volume-title":"Proceedings of the Sixteenth Conference on Uncertainty in Artificial Intelligence","author":"Doucet, A.","key":"atypb9"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008935410038"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"issue":"4","key":"atypb12","first-page":"309","volume":"11","author":"Fernandez-Madrigal, J.","year":"2004","journal-title":"Computer-Aided Engineering"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022012001"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1613\/jair.616"},{"volume-title":"Proceedings of the IEEE Mediterranean Electrotechnical Conference","author":"Gonzalez, J.","key":"atypb15"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.007"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Hahnel, D.","key":"atypb18"},{"volume-title":"Intel Architecture Software Developer's Manual. Volume 2: Instruction Set Reference","year":"1999","author":"Intel, Inc.","key":"atypb19"},{"volume-title":"Proceedings of the International Symposium on Aerospace\/Defense Sensing, Simulation and Controls","author":"Julier, S.","key":"atypb20"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"atypb22","first-page":"3232","volume":"4","author":"Ko, J.","year":"2003","journal-title":"Proceedings of the IEEE\/ RSJ International Conference on Intelligent Robots and Systems"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1007\/BF00162521"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"volume-title":"Proceedings of the AAAI National Conference on Artificial Intelligence","author":"Montemerlo, M.","key":"atypb25"},{"issue":"2","key":"atypb26","first-page":"61","volume":"9","author":"Moravec, H.","year":"1988","journal-title":"AI Magazine"},{"key":"atypb27","volume":"2","author":"Moravec, H.","year":"1985","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.025"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Roy, N.","key":"atypb29"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Saez, J.","key":"atypb30"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Sim, R.","key":"atypb31"},{"volume-title":"Exploration and Mapping with Mobile Robots. Ph.D. Thesis","year":"2006","author":"Stachniss, C.","key":"atypb32"},{"volume-title":"Proceedings of Robotics: Science and Systems (RSS)","author":"Stachniss, C.","key":"atypb33"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Stachniss, C.","key":"atypb34"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Stachniss, C.","key":"atypb35"},{"key":"atypb36","doi-asserted-by":"publisher","DOI":"10.1023\/A:1025584807625"},{"volume-title":"Probabilistic Robotics. Cambrideg, MA","year":"2005","author":"Thrun, S.","key":"atypb37"},{"volume-title":"Proceedings of International Conference on Machine Learning and Applications","author":"Vlassis, N.","key":"atypb38"},{"volume-title":"Proceedings of the Second International Conference on Autonomous Agents","author":"Yamauchi, B.","key":"atypb39"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082610","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364907082610","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T05:36:13Z","timestamp":1740980173000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364907082610"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,1]]},"references-count":39,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2008,1]]}},"alternative-id":["10.1177\/0278364907082610"],"URL":"https:\/\/doi.org\/10.1177\/0278364907082610","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2008,1]]}}}